000			02403nam a22003015i 4500
001			65101
005			20210429121207.0
010			_a978-1-4419-7892-9 _dcompra
090			_a65101
100			_a20150401d2011 k||y0pory50 ba
101			_aeng
102			_aUS
200			_aGeometric design of linkages _bDocumento electrónico _fJ. Michael McCarthy, Gim Song Soh
210			_aNew York, NY _cSpringer _d2011
215			_aXXVIII, 448 p.
225			_aInterdisciplinary Applied Mathematics
300			_aColocação: Online
303			_a  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 workpiece, 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. This new edition includes research results of the past decade on the synthesis of multiloop 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 the linear product decomposition of polynomial systems and polynomial continuation solutions. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are used throughout to demonstrate the theory.  Review of First Edition: "...I found the author had provided an excellent text that enabled me to come to terms with the subject. Readers with an interest in the area will find the volume rewarding." -The Mathematical Gazette (2001)
606			_aProjecto de máquinas
680			_aTJ230
700			_aMcCarthy _bJ. Michael
701			_957842 _aSoh _bGim Song _4070
801			_aPT _gRPC
856			_uhttp://dx.doi.org/10.1007/978-1-4419-7892-9
942			_2lcc _cF _n0