Jingshan Zhao – författare
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4 produkter
4 produkter
1 666 kr
Skickas inom 10-15 vardagar
Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms provides a complete analytical approach to the invention of new robot mechanisms and the analysis of existing designs based on a unified mathematical description of the kinematic and geometric constraints of mechanisms.
Beginning with a high level introduction to mechanisms and components, the book moves on to present a new analytical theory of terminal constraints for use in the development of new spatial mechanisms and structures. It clearly describes the application of screw theory to kinematic problems and provides tools that students, engineers and researchers can use for investigation of critical factors such as workspace, dexterity and singularity.
Combines constraint and free motion analysis and design, offering a new approach to robot mechanism innovation and improvement Clearly describes the use of screw theory in robot kinematic analysis, allowing for concise representation of motion and static forces when compared to conventional analysis methods Includes worked examples to translate theory into practice and demonstrate the application of new analytical methods to critical robotics problems
1 061 kr
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Planar linkages play a very important role in mechanical engineering. As the simplest closed chain mechanisms, planar four-bar linkages are widely used in mechanical engineering, civil engineering and aerospace engineering.Design of Special Planar Linkages proposes a uniform design theory for planar four-bar linkages. The merit of the method proposed in this book is that it allows engineers to directly obtain accurate results when there are such solutions for the specified n precise positions; otherwise, the best approximate solutions will be found. This book discusses the kinematics and reachable workspace and singularity of a planar 3-RRR linkage, which can be used to analyze other planar linkages. Then a foldable stair that retains the walking conversions of human beings and all the merits of a concrete stair in civil engineering is described along with a lifting guidance mechanism that has the advantages of high strength, high rigidity, lightweight overconstraint trusses and motion flexibility. The method proposed in this book can be applied to other planar linkages.This book offers a valuable resource for scientists, researchers, engineers, graduate students in mechanical engineering especially those interested in engineering design, robotics and automation.Jingshan Zhao, Associate professor; Zhijing Feng and Fulei Chu, professor; Ning Ma, Dr., all work at the Department of Mechanical Engineering, Tsinghua University.
1 061 kr
Skickas inom 10-15 vardagar
Planar linkages play a very important role in mechanical engineering. As the simplest closed chain mechanisms, planar four-bar linkages are widely used in mechanical engineering, civil engineering and aerospace engineering.Design of Special Planar Linkages proposes a uniform design theory for planar four-bar linkages. The merit of the method proposed in this book is that it allows engineers to directly obtain accurate results when there are such solutions for the specified n precise positions; otherwise, the best approximate solutions will be found. This book discusses the kinematics and reachable workspace and singularity of a planar 3-RRR linkage, which can be used to analyze other planar linkages. Then a foldable stair that retains the walking conversions of human beings and all the merits of a concrete stair in civil engineering is described along with a lifting guidance mechanism that has the advantages of high strength, high rigidity, lightweight overconstraint trusses and motion flexibility. The method proposed in this book can be applied to other planar linkages.This book offers a valuable resource for scientists, researchers, engineers, graduate students in mechanical engineering especially those interested in engineering design, robotics and automation.Jingshan Zhao, Associate professor; Zhijing Feng and Fulei Chu, professor; Ning Ma, Dr., all work at the Department of Mechanical Engineering, Tsinghua University.
Screw Mechanics
Screw Statics, Kinematics and Dynamics for Multi-Body Systems
Inbunden, Engelska, 2026
2 646 kr
Kommande
This book starts from the general concepts of force and torque and deduces the force screw naturally. The displacement, velocity, and acceleration of a rigid body and rigid-body system are discussed in geometry and algebra with a focus on increasing the intuitive understanding of the readers. Velocity screw is explained in vector geometry. Momentum screw of a rigid body and the theorem of momentum and moment of momentum are investigated for deducing the dynamics of a rigid body and rigid-body systems. This is the first time to interpret momentum and moment of momentum in such a way. All profound theories are explained in simple language. Screw mechanics focuses on the screw expression of mechanics from statics, to kinematics and dynamics of a rigid body and rigid-body systems. Therefore, the general scope of the book’s content covers from the definition of force screw to the deduction of the screw equation of statics in Newton’s first law, the investigation of the kinematic geometry of rigid-body motion, the deduction of the velocity screw of the end effector in a series kinematic chain from algebra and geometry. The kinetostatics is discussed for force control of a robotic arm. Acceleration in screw form is deduced for establishing the dynamics in Newton-Euler equations. Theorem of kinetic energy expressed in screw is discussed from the viewpoint of deducing the Lagrangian dynamics. Comparison of dynamics in momentum screw, kinetic energy and Newton–Euler equations is commented objectively at last. Screw Mechanics introduces a revolutionary way to map the force, velocity and momentum of a rigid body or system from 3-dimensional space to force screw, velocity screw and momentum screw of one single point in 6-dimensional space of screw. By adopting screw theory as a foundational language, this book presents a unified and elegant framework that seamlessly integrates statics, kinematics, and dynamics. The content starts from a primary level and comes to a very high level. Therefore, the intended readership includes undergraduate students and postgraduate students and scholars in mechanics, robotics, aerospace engineering, civil engineering, mechanical engineering, and vehicle engineering.