Geometric Design of Linkages

Author: J. Michael McCarthy,Gim Song Soh

Publisher: Springer Science & Business Media

ISBN: 9781441978929

Category: Science

Page: 448

View: 2443

This book is an introduction to the mathematical theory of design for articulated mechanical systems known as linkages. The focus is on sizing mechanical constraints that guide the movement of a work piece, or end-effector, of the system. The function of the device is prescribed as a set of positions to be reachable by the end-effector; and the mechanical constraints are formed by joints that limit relative movement. The goal is to find all the devices that can achieve a specific task. Formulated in this way the design problem is purely geometric in character. Robot manipulators, walking machines, and mechanical hands are examples of articulated mechanical systems that rely on simple mechanical constraints to provide a complex workspace for the end- effector. The principles presented in this book form the foundation for a design theory for these devices. The emphasis, however, is on articulated systems with fewer degrees of freedom than that of the typical robotic system, and therefore, less complexity. This book will be useful to mathematics, engineering and computer science departments teaching courses on mathematical modeling of robotics and other articulated mechanical systems. This new edition includes research results of the past decade on the synthesis of multi loop planar and spherical linkages, and the use of homotopy methods and Clifford algebras in the synthesis of spatial serial chains. One new chapter on the synthesis of spatial serial chains introduces numerical homotopy and the linear product decomposition of polynomial systems. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are use throughout to demonstrate the theory.

Kinematic Differential Geometry and Saddle Synthesis of Linkages

Author: Delun Wang,Wei Wang

Publisher: John Wiley & Sons

ISBN: 1118255070

Category: Technology & Engineering

Page: 450

View: 6652

With a pioneering methodology, the book covers the fundamental aspects of kinematic analysis and synthesis of linkage, and provides a theoretical foundation for engineers and researchers in mechanisms design. • The first book to propose a complete curvature theory for planar, spherical and spatial motion • Treatment of the synthesis of linkages with a novel approach • Well-structured format with chapters introducing clearly distinguishable concepts following in a logical sequence dealing with planar, spherical and spatial motion • Presents a pioneering methodology by a recognized expert in the field and brought up to date with the latest research and findings • Fundamental theory and application examples are supplied fully illustrated throughout

The Configuration Space Method for Kinematic Design of Mechanisms

Author: Elisha Sacks,Leo Joskowicz

Publisher: MIT Press

ISBN: 0262013894

Category: Computers

Page: 195

View: 7695

A novel algorithmic approach to mechanism design based on a geometric representation of kinematic function called configuration space partitions. This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry. After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files. The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics.

Handbook of Geometric Constraint Systems Principles

Author: Meera Sitharam,Audrey St. John,Jessica Sidman

Publisher: CRC Press

ISBN: 1498738923

Category: Mathematics

Page: 578

View: 9335

The Handbook of Geometric Constraint Systems Principles is an entry point to the currently used principal mathematical and computational tools and techniques of the geometric constraint system (GCS). It functions as a single source containing the core principles and results, accessible to both beginners and experts. The handbook provides a guide for students learning basic concepts, as well as experts looking to pinpoint specific results or approaches in the broad landscape. As such, the editors created this handbook to serve as a useful tool for navigating the varied concepts, approaches and results found in GCS research. Key Features: A comprehensive reference handbook authored by top researchers Includes fundamentals and techniques from multiple perspectives that span several research communities Provides recent results and a graded program of open problems and conjectures Can be used for senior undergraduate or graduate topics course introduction to the area Detailed list of figures and tables About the Editors: Meera Sitharam is currently an Associate Professor at the University of Florida’s Department of Computer & Information Science and Engineering. She received her Ph.D. at the University of Wisconsin, Madison. Audrey St. John is an Associate Professor of Computer Science at Mount Holyoke College, who received her Ph. D. from UMass Amherst. Jessica Sidman is a Professor of Mathematics on the John S. Kennedy Foundation at Mount Holyoke College. She received her Ph.D. from the University of Michigan.

Polyhedral and Algebraic Methods in Computational Geometry

Author: Michael Joswig,Thorsten Theobald

Publisher: Springer Science & Business Media

ISBN: 1447148177

Category: Mathematics

Page: 250

View: 8107

Polyhedral and Algebraic Methods in Computational Geometry provides a thorough introduction into algorithmic geometry and its applications. It presents its primary topics from the viewpoints of discrete, convex and elementary algebraic geometry. The first part of the book studies classical problems and techniques that refer to polyhedral structures. The authors include a study on algorithms for computing convex hulls as well as the construction of Voronoi diagrams and Delone triangulations. The second part of the book develops the primary concepts of (non-linear) computational algebraic geometry. Here, the book looks at Gröbner bases and solving systems of polynomial equations. The theory is illustrated by applications in computer graphics, curve reconstruction and robotics. Throughout the book, interconnections between computational geometry and other disciplines (such as algebraic geometry, optimization and numerical mathematics) are established. Polyhedral and Algebraic Methods in Computational Geometry is directed towards advanced undergraduates in mathematics and computer science, as well as towards engineering students who are interested in the applications of computational geometry.


Author: New Zealand Mathematical Society

Publisher: N.A


Category: Mathematics

Page: N.A

View: 2075


Interdisciplinary Topics in Applied Mathematics, Modeling and Computational Science

Author: Monica Cojocaru,Ilias S. Kotsireas,Roman Makarov,Roderick Melnik,Hasan Shodiev

Publisher: Springer

ISBN: 3319123076

Category: Computers

Page: 555

View: 5096

The Applied Mathematics, Modelling, and Computational Science (AMMCS) conference aims to promote interdisciplinary research and collaboration. The contributions in this volume cover the latest research in mathematical and computational sciences, modeling, and simulation as well as their applications in natural and social sciences, engineering and technology, industry, and finance. The 2013 conference, the second in a series of AMMCS meetings, was held August 26—30 and organized in cooperation with AIMS and SIAM, with support from the Fields Institute in Toronto, and Wilfrid Laurier University. There were many young scientists at AMMCS-2013, both as presenters and as organizers. This proceedings contains refereed papers contributed by the participants of the AMMCS-2013 after the conference. This volume is suitable for researchers and graduate students, mathematicians and engineers, industrialists, and anyone who would like to delve into the interdisciplinary research of applied and computational mathematics and its areas of applications.

Proceedings of the ASME Design Engineering Division

and the ASME Computers in Information and Engineering Division--2006 : presented at 2006 ASME International Mechanical Engineering Congress and Exposition : November 5-10, 2006, Chicago, Illinois, USA

Author: American Society of Mechanical Engineers. Design Engineering Division

Publisher: American Society of Mechanical Engineers

ISBN: 9780791847671

Category: CAD/CAM systems

Page: 724

View: 9077


Learning Spaces

Interdisciplinary Applied Mathematics

Author: Jean-Claude Falmagne,Jean-Paul Doignon

Publisher: Springer Science & Business Media

ISBN: 9783642010392

Category: Mathematics

Page: 417

View: 5880

Learning spaces offer a rigorous mathematical foundation for practical systems of educational technology. Learning spaces generalize partially ordered sets and are special cases of knowledge spaces. The various structures are investigated from the standpoints of combinatorial properties and stochastic processes. Leaning spaces have become the essential structures to be used in assessing students' competence of various topics. A practical example is offered by ALEKS, a Web-based, artificially intelligent assessment and learning system in mathematics and other scholarly fields. At the heart of ALEKS is an artificial intelligence engine that assesses each student individually and continously. The book is of interest to mathematically oriented readers in education, computer science, engineering, and combinatorics at research and graduate levels. Numerous examples and exercises are included, together with an extensive bibliography.

Strengthening the Linkages Between the Sciences and the Mathematical Sciences

Author: National Research Council,Division on Engineering and Physical Sciences,Commission on Physical Sciences, Mathematics, and Applications,Committee on Strengthening the Linkages Between the Sciences and the Mathematical Sciences

Publisher: National Academies Press

ISBN: 9780309183628

Category: Mathematics

Page: 138

View: 804

Over three hundred years ago, Galileo is reported to have said, "The laws of nature are written in the language of mathematics." Often mathematics and science go hand in hand, with one helping develop and improve the other. Discoveries in science, for example, open up new advances in statistics, computer science, operations research, and pure and applied mathematics which in turn enabled new practical technologies and advanced entirely new frontiers of science. Despite the interdependency that exists between these two disciplines, cooperation and collaboration between mathematical scientists and scientists have only occurred by chance. To encourage new collaboration between the mathematical sciences and other fields and to sustain present collaboration, the National Research Council (NRC) formed a committee representing a broad cross-section of scientists from academia, federal government laboratories, and industry. The goal of the committee was to examine the mechanisms for strengthening interdisciplinary research between mathematical sciences and the sciences, with a strong focus on suggesting the most effective mechanisms of collaboration. Strengthening the Linkages Between the Sciences and the Mathematical Sciences provides the findings and recommendations of the committee as well as case studies of cross-discipline collaboration, the workshop agenda, and federal agencies that provide funding for such collaboration.

Practical Applied Mathematics

Modelling, Analysis, Approximation

Author: Sam Howison

Publisher: Cambridge University Press

ISBN: 9780521842747

Category: Mathematics

Page: 326

View: 6029

Drawing from a wide variety of mathematical subjects, this book aims to show how mathematics is realised in practice in the everyday world. Dozens of applications are used to show that applied mathematics is much more than a series of academic calculations. Mathematical topics covered include distributions, ordinary and partial differential equations, and asymptotic methods as well as basics of modelling. The range of applications is similarly varied, from the modelling of hair to piano tuning, egg incubation and traffic flow. The style is informal but not superficial. In addition, the text is supplemented by a large number of exercises and sideline discussions, assisting the reader's grasp of the material. Used either in the classroom by upper-undergraduate students, or as extra reading for any applied mathematician, this book illustrates how the reader's knowledge can be used to describe the world around them.

Adaptive Control of Underactuated Mechanical Systems

Author: An-Chyau Huang,Yung-Feng Chen,Chen-Yu Kai

Publisher: World Scientific

ISBN: 9814663565

Category: Technology & Engineering

Page: 228

View: 4696

In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The strategy developed is so universal that it is not restricted to a specific system but a large class of underactuated systems. Several benchmark systems are studied in this book, including detailed literature review, system dynamics derivation, control problem formulation, and simulation verification. The control strategy developed in chapter 4 is able to stabilize all these benchmark systems with satisfactory performance regardless of the underactuated dynamics and various uncertainties. The book is written as a text suitable for graduate students in the advanced course for the control of underactuated systems. It also provides valuable tools for researchers and practicing engineers working on the control of underactuated mechanical systems. Contents:IntroductionPreliminariesUnderactuated System Dynamics and Coordinate TransformationController DesignCart Pole SystemOverhead CranesTORA SystemRotary Inverted PendulumVibration AbsorberPendubotBibliographyIndex Readership: Graduate students, researchers, and academics in control engineering, mechanical engineering, electrical & electronic engineering, and optimization and control theory. Keywords:Adaptive Control;Underactuated Systems;Approximation Technique

Applied System Innovation

Proceedings of the 2015 International Conference on Applied System Innovation (ICASI 2015), May 22-27, 2015, Osaka, Japan

Author: Teen-Hang Meen,Stephen Prior,Artde Donald Kin-Tak Lam

Publisher: CRC Press

ISBN: 1498780598

Category: Computers

Page: 282

View: 9896

The 2015 International Conference on Applied System Innovation (ICASI 2015) was held May 22-27, 2015 in Osaka, Japan and provided a unified communication platform for researchers active in a wide range of research fields. Professionals from industry, academia and government were encouraged to discourse on research and development, professional practice, business and management in the information, innovation, communication and engineering fields. This conference enabled interdisciplinary collaboration between science and engineering technologists in the academic and industry fields as well as networking internationally. The conference received 1063 submitted papers, whereby 421 papers were selected by the committees to be presented at the ICASI 2015 conference. These papers were divided into 13 Regular Sessions and 13 Invited Sessions, and presented in several parallel sessions. The ICASI 2015 committees selected 226 excellent papers for publication in this proceedings volume, covering topics ranging from information technology, innovation design, communication science and engineering, industrial design, creative design, applied mathematics, computer science, design theory and cultural and creative research to electrical and electronic engineering, mechanical and automation engineering, green technology and architecture engineering and material science, among others.

Proceedings of DETC

Author: American Society of Mechanical Engineers. Design Engineering Division,Kazem S. M. Kazerounian

Publisher: N.A

ISBN: 9780791847442

Category: Engineering

Page: N.A

View: 2312


Aesthetics of Interdisciplinarity: Art and Mathematics

Author: Kristóf Fenyvesi,Tuuli Lähdesmäki

Publisher: Birkhäuser

ISBN: 3319572598

Category: Mathematics

Page: 290

View: 1492

This anthology fosters an interdisciplinary dialogue between the mathematical and artistic approaches in the field where mathematical and artistic thinking and practice merge. The articles included highlight the most significant current ideas and phenomena, providing a multifaceted and extensive snapshot of the field and indicating how interdisciplinary approaches are applied in the research of various cultural and artistic phenomena. The discussions are related, for example, to the fields of aesthetics, anthropology, art history, art theory, artistic practice, cultural studies, ethno-mathematics, geometry, mathematics, new physics, philosophy, physics, study of visual illusions, and symmetry studies. Further, the book introduces a new concept: the interdisciplinary aesthetics of mathematical art, which the editors use to explain the manifold nature of the aesthetic principles intertwined in these discussions.


Author: American Society of Mechanical Engineers. Design Engineering Division,American Society of Mechanical Engineers. Computers and Information in Engineering Division

Publisher: N.A


Category: Computers

Page: N.A

View: 9873


Spatial Point Patterns

Methodology and Applications with R

Author: Adrian Baddeley,Ege Rubak,Rolf Turner

Publisher: CRC Press

ISBN: 1482210215

Category: Mathematics

Page: 810

View: 9234

Modern Statistical Methodology and Software for Analyzing Spatial Point Patterns Spatial Point Patterns: Methodology and Applications with R shows scientific researchers and applied statisticians from a wide range of fields how to analyze their spatial point pattern data. Making the techniques accessible to non-mathematicians, the authors draw on their 25 years of software development experiences, methodological research, and broad scientific collaborations to deliver a book that clearly and succinctly explains concepts and addresses real scientific questions. Practical Advice on Data Analysis and Guidance on the Validity and Applicability of Methods The first part of the book gives an introduction to R software, advice about collecting data, information about handling and manipulating data, and an accessible introduction to the basic concepts of point processes. The second part presents tools for exploratory data analysis, including non-parametric estimation of intensity, correlation, and spacing properties. The third part discusses model-fitting and statistical inference for point patterns. The final part describes point patterns with additional "structure," such as complicated marks, space-time observations, three- and higher-dimensional spaces, replicated observations, and point patterns constrained to a network of lines. Easily Analyze Your Own Data Throughout the book, the authors use their spatstat package, which is free, open-source code written in the R language. This package provides a wide range of capabilities for spatial point pattern data, from basic data handling to advanced analytic tools. The book focuses on practical needs from the user’s perspective, offering answers to the most frequently asked questions in each chapter.