Kinematics of multipart systems. Calculation methods

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ISBN 978-83-204-3334-0
Author: Frączek Janusz, Wojtyra Marek
Publisher: WNT

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About the book

The book presents modern and effective computational methods of kinematics of multipart systems, i.e. systems composed of a large number of bodies (members) connected with each other in various ways, which may move under the influence of various extortion.

This heading in particular includes types of coordinates used in the description of multipart systems, kinematics of flat and spatial systems in joint and absolute coordinates, as well as algorithm and selected procedures of the program for automatic kinematic analysis of multipartite systems. The last chapter, of a monographic character, is devoted to extremely difficult issues, sometimes going beyond the traditional course of kinematics, such as the study of singular configurations or the analysis of systems with redundant constraints.

The book is accompanied by a CD with MATLAB programs presenting the algorithm of kinematic calculations.

The book is intended for students of the following faculties: mechanics and mechanical engineering, robotics and automation, and mechatronics of mechanical faculties technical university. Some of its fragments may be useful also for engineers working in industry and using CAD / CAE methods, as well as for doctoral students, as well as didactic and scientific employees.

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Table of Contents

Preface

1. Introduction

2. Introductory information on mathematics and theory of mechanisms

2.1. Matrices, vectors, differential calculus. Selected numerical methods
2.2. Basic concepts of mechanism theory

3. Description of the kinematics of the mechanism

3.1. Composite motion of a rigid member
3.2. The selection of coordinates in the description of the kinematics of the mechanism

4. Kinematic analysis of mechanisms in joint coordinates

4.1. Admission
4.2. Flat mechanisms
4.3. Spatial mechanisms

5. Kinematic analysis of mechanisms in absolute coordinates

5.1. Admission. Formulation of kinematics tasks
5.2. Flat mechanisms
5.3. Spatial mechanisms
5.4. Numerical algorithm and computer program
5.5. Absolute and junction coordinates - a comparison

6. Excessive ties. Quaint locations. Analysis starting points

6.1. Admission
6.2. Mechanisms with redundant constraints
6.3. Positions (configurations) of a peculiar mechanism
6.4. Peculiarities of description of rotations in Euler angles
6.5. Folding mechanisms - initial positions
6.6. Calculation algorithm and summary

Bibliography
Index