Kinematics of general spatial mechanical systems 1st Edition

Kinematics of general spatial mechanical systems 1st Edition – Ebook Instant Download/Delivery ISBN(s): 9781119195740,9781119195757,9781119195764,1119195748,1119195756,1119195764

Product details:

• ISBN-10: 1119195748
• ISBN-13: 9781119195740
• Author: M. Kemal Ozgoren

Kinematics of General Spatial Mechanical Systems is an effective and proficient guide to the kinematic description and analysis of the spatial mechanical systems such as serial manipulators, parallel manipulators and spatial mechanisms. The author highlights the analytical and semi-analytical methods for solving the relevant equations and considers four main elements: The mathematics of spatial kinematics with the necessary theorems, formulas and methods; The kinematic description of the links and joints including the rolling contact joints; Writing the kinematic chain and loop equations for the systems to be analyzed; and Solving these equations for the unspecified variables both in the forward and inverse senses together with the multiplicity and singularity analyses.

Table contents:

1 Vectors and Their Matrix Representations in Selected Reference Frames

2 Rotation of Vectors and Rotation Matrices

3 Matrix Representations of Vectors in Different Reference Frames and the Component Transformation Matrices

4 Vector Differentiation Accompanied by Velocity and Acceleration Expressions

5 Kinematics of Rigid Body Systems

6 Joints and Their Kinematic Characteristics

7 Kinematic Features of Serial Manipulators

8 Position and Motion Analyses of Generic Serial Manipulators

9 Kinematic Analyses of Typical Serial Manipulators

10 Position and Velocity Analyses of Parallel Manipulators

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