Atnaujinkite slapukų nuostatas

Kinematics and Dynamics of Mechanical Systems, Second Edition: Implementation in MATLAB® and SimMechanics® 2nd edition [Kietas viršelis]

(New Jersey Institute of Technology, USA), (Softalink LLC, USA), (New Jersey Institute of Technology, USA)
  • Formatas: Hardback, 516 pages, aukštis x plotis: 254x178 mm, weight: 1152 g, 212 Tables, black and white; 419 Illustrations, black and white
  • Išleidimo metai: 17-Sep-2018
  • Leidėjas: CRC Press
  • ISBN-10: 1138584045
  • ISBN-13: 9781138584044
Kitos knygos pagal šią temą:
Kinematics and Dynamics of Mechanical Systems, Second Edition: Implementation in MATLAB® and SimMechanics® 2nd editionDidesnis paveikslėlis
  • Formatas: Hardback, 516 pages, aukštis x plotis: 254x178 mm, weight: 1152 g, 212 Tables, black and white; 419 Illustrations, black and white
  • Išleidimo metai: 17-Sep-2018
  • Leidėjas: CRC Press
  • ISBN-10: 1138584045
  • ISBN-13: 9781138584044
Kitos knygos pagal šią temą:
Pastovi nuoroda: https://www.kriso.lt/db/9781138584044.html
Raktažodžiai:
Kinematics and Dynamics of Mechanical Systems: Implementation in MATLAB® and SimMechanics®, Second Edition combines the fundamentals of mechanism kinematics, synthesis, statics and dynamics with real-world applications, and offers step-by-step instruction on the kinematic, static, and dynamic analyses and synthesis of equation systems. Written for students with no working knowledge of MATLAB and SimMechanics, the text provides understanding of static and dynamic mechanism analysis, and moves beyond conventional kinematic conceptsfactoring in adaptive programming, 2D and 3D visualization, and simulation, and equips readers with the ability to analyze and design mechanical systems. This latest edition presents all of the breadth and depth as the past edition, but with updated theoretical content and much improved integration of MATLAB and SimMechanics in the text examples.

Features:











Fully integrates MATLAB and SimMechanics with treatment of kinematics and machine dynamics





Revised to modify all 300 end-of-chapter problems, with new solutions available for instructors





Formulated static & dynamic load equations, and MATLAB files, to include gravitational acceleration





Adds coverage of gear tooth forces and torque equations for straight bevel gears





Links text examples directly with a library of MATLAB and SimMechanics files for all users
Preface xiii
Authors xvii
1 Introduction to Kinematics
1(12)
1.1 Kinematics
1(1)
1.2 Kinematic Chains and Mechanisms
2(1)
1.3 Mobility, Planar, and Spatial Mechanisms
3(2)
1.4 Types of Mechanism Motion
5(2)
1.5 Kinematic Synthesis
7(1)
1.6 Units and Conversions
8(1)
1.7 Software Resources
9(1)
1.8 Summary
9(1)
References
10(1)
Additional Reading
11(2)
2 Mathematical Concepts in Kinematics
13(28)
2.1 Introduction
13(1)
2.2 Complex Numbers and Operations
13(7)
2.2.1 Complex Number Forms
13(2)
2.2.2 Complex Number Addition
15(2)
2.2.3 Complex Number Multiplication and Differentiation
17(3)
2.3 Vector and Point Representation
20(2)
2.4 Linear Simultaneous Equations, Matrices, and Matrix Operations
22(7)
2.4.1 Linear Simultaneous Equation Systems and Matrices
22(1)
2.4.2 Matrix Transpose, Addition, Subtraction, and Multiplication
23(3)
2.4.3 The Identity Matrix and Matrix Inversion
26(3)
2.5 Intermediate and Total Spatial Motion
29(4)
2.6 General Transformation Matrix
33(3)
2.7 Summary
36(1)
References
37(1)
Additional Reading
37(1)
Problems
37(4)
3 Fundamental Concepts in Kinematics
41(22)
3.1 Types of Planar and Spatial Mechanisms
41(5)
3.1.1 Planar Four-Bar Mechanism
41(1)
3.1.2 Slider-Crank Mechanism
41(1)
3.1.3 Geared Five-Bar Mechanism
42(2)
3.1.4 Planar Multiloop Six-Bar Mechanisms
44(1)
3.1.5 Spatial Four-Bar Mechanisms
45(1)
3.2 Links, Joints, and Mechanism Mobility
46(3)
3.3 Number Synthesis
49(1)
3.4 Grashof's Criteria and Transmission Angle
50(3)
3.5 Circuit Defect
53(1)
3.6 Mechanism Inversion
54(1)
3.7 Passive Degree of Freedom and Paradoxes
55(1)
3.8 Summary
56(1)
References
57(1)
Problems
58(5)
4 Kinematic Analysis of Planar Mechanisms
63(68)
4.1 Introduction
63(1)
4.2 Numerical Solution Method for Two Simultaneous Equations
64(1)
4.3 Link Velocity and Acceleration Components in Planar Space
64(2)
4.4 Four-Bar Mechanism Analysis
66(14)
4.4.1 Displacement Equations
66(1)
4.4.2 Velocity Equations
67(1)
4.4.3 Acceleration Equations
68(2)
4.4.4 Kinematics of Coupler Locations of Interest
70(6)
4.4.5 Instant Center, Centrodes, and Centrode Generation
76(4)
4.5 Slider-Crank Mechanism Analysis
80(11)
4.5.1 Displacement Equations
80(1)
4.5.2 Velocity Equations
81(2)
4.5.3 Acceleration Equations
83(6)
4.5.4 Centrode Generation
89(2)
4.6 Geared Five-Bar Mechanism Analysis
91(6)
4.6.1 Displacement Equations
91(1)
4.6.2 Velocity Equations
92(1)
4.6.3 Acceleration Equations
93(2)
4.6.4 Kinematics of Intermediate Link Locations of Interest
95(2)
4.7 Watt II Mechanism Analysis
97(3)
4.8 Stephenson III Mechanism Analysis
100(8)
4.8.1 Displacement Equations
100(3)
4.8.2 Velocity Equations
103(1)
4.8.3 Acceleration Equations
104(1)
4.8.4 Kinematics of Intermediate Link Locations of interest
105(3)
4.9 Time and Driver Angular Velocity
108(1)
4.10 Mechanism Configurations
108(1)
4.11 Constructing Cognates
109(3)
4.12 Planar Mechanism Kinematic Analysis and Modeling in Simmechanics®
112(5)
4.13 Summary
117(1)
References
118(1)
Additional Reading
118(1)
Problems
118(13)
5 Dimensional Synthesis
131(44)
5.1 Introduction
131(2)
5.2 Branch and Order Defects
133(2)
5.3 Planar Four-Bar Motion Generation: Three Precision Positions
135(5)
5.4 Order- and Branch-Defect Elimination
140(4)
5.5 Path Generation versus Motion Generation
144(1)
5.6 Stephenson III Motion Generation: Three Precision Positions
145(4)
5.7 Planar Four-Bar Function Generation: Three Precision Points
149(4)
5.8 Planar Four-Bar Function Generation: FSPs and MSPs
153(5)
5.9 Mechanism Dimensions: From Dimensional Synthesis to Kinematic Analysis
158(5)
5.10 Summary
163(1)
References
164(1)
Additional Reading
165(1)
Problems
165(10)
6 Static Force Analysis of Planar Mechanisms
175(48)
6.1 Introduction
175(1)
6.2 Static Loading in Planar Space
176(1)
6.3 Four-Bar Mechanism Analysis
177(5)
6.4 Slider-Crank Mechanism Analysis
182(3)
6.5 Geared Five-Bar Mechanism Analysis
185(5)
6.6 Watt II Mechanism Analysis
190(6)
6.7 Stephenson III Mechanism Analysis
196(5)
6.8 Planar Mechanism Static Force Analysis and Modeling in SimMechanics®
201(3)
6.9 Summary
204(1)
References
205(1)
Additional Reading
206(1)
Problems
206(17)
7 Dynamic Force Analysis of Planar Mechanisms
223(48)
7.1 Introduction
223(1)
7.2 Dynamic Loading in Planar Space
224(1)
7.3 Four-Bar Mechanism Analysis
224(6)
7.4 Slider-Crank Mechanism Analysis
230(3)
7.5 Geared Five-Bar Mechanism Analysis
233(5)
7.6 Watt II Mechanism Analysis
238(5)
7.7 Stephenson III Mechanism Analysis
243(5)
7.8 Mass Moment of Inertia and Computer-Aided Design Software
248(2)
7.9 Planar Mechanism Dynamic Force Analysis and Modeling in Simmechanics®
250(6)
7.10 Summary
256(1)
References
256(1)
Additional Reading
256(1)
Problems
256(15)
8 Design and Kinematic Analysis of Gears
271(40)
8.1 Introduction
271(1)
8.2 Gear Types
272(2)
8.3 SPUR-Gear Nomenclature and Relationships of Mating Gears
274(10)
8.3.1 Spur-Gear Nomenclature
274(3)
8.3.2 Pressure Angle and Involute Tooth Profile
277(3)
8.3.3 Gear Center Distance and Contact Ratio
280(2)
8.3.4 Gear-Tooth Interference and Undercutting
282(1)
8.3.5 Backlash
283(1)
8.4 Helical-Gear Nomenclature
284(3)
8.5 Gear Kinematics
287(18)
8.5.1 Spur Gears and Gear Trains
287(4)
8.5.2 Planetary Gear Trains
291(4)
8.5.3 Rack and Pinion Gears
295(1)
8.5.4 Helical Gears
296(2)
8.5.5 Bevel Gears
298(3)
8.5.6 Worm Gears
301(4)
8.6 Summary
305(1)
References
305(1)
Additional Reading
306(1)
Problems
306(5)
9 Design and Kinematic Analysis of Disk Cams
311(32)
9.1 Introduction
311(1)
9.2 Follower Types
312(1)
9.3 Follower Motion
313(18)
9.3.1 Rise, Fall, and Dwell
313(2)
9.3.2 Displacement, Velocity, Acceleration, and Jerk
315(1)
9.3.3 Constant Velocity Motion
315(2)
9.3.4 Constant Acceleration Motion
317(3)
9.3.5 Simple Harmonic Motion
320(2)
9.3.6 Cycloidal Motion
322(3)
9.3.7 Polynomial Motion
325(6)
9.4 Disk Cam Design and Pressure Angle
331(5)
9.5 Summary
336(1)
References
337(1)
Additional Reading
337(1)
Problems
338(5)
10 Kinematic Analysis of Spatial Mechanisms
343(30)
10.1 Introduction
343(1)
10.2 RRSS Mechanism Analysis
344(6)
10.2.1 Displacement Equations
344(2)
10.2.2 Velocity Equations
346(1)
10.2.3 Acceleration Equations
347(3)
10.3 RSSR Mechanism Analysis
350(5)
10.3.1 Displacement Equations
350(1)
10.3.2 Velocity Equations
351(1)
10.3.3 Acceleration Equations
352(3)
10.4 Four-Revolute Spherical Mechanism Analysis
355(4)
10.5 Planar Four-Bar Kinematic Analysis Using RRSS and RSSR Kinematic Equations
359(3)
10.6 Spatial Mechanism Kinematic Analysis and Modeling in Simmechanics®
362(2)
10.7 Summary
364(1)
References
365(1)
Problems
365(8)
11 Introduction to Robotic Manipulators
373(36)
11.1 Introduction
373(1)
11.2 Terminology and Nomenclature
374(1)
11.3 Robotic Manipulator Mobility and Types
375(2)
11.4 The General Transformation Matrix
377(4)
11.5 Forward Kinematics
381(11)
11.5.1 Definition and Application
381(1)
11.5.2 P-P-P
381(2)
11.5.3 R-P-P
383(2)
11.5.4 R-R-P
385(2)
11.5.5 R-R-R
387(2)
11.5.6 R-R-C
389(3)
11.6 Inverse Kinematics
392(9)
11.6.1 Definition and Application
392(1)
11.6.2 P-P-P
392(2)
11.6.3 R-P-P
394(2)
11.6.4 R-R-P
396(1)
11.6.5 R-R-R
397(2)
11.6.6 R-R-C
399(2)
11.7 Robotic Manipulator Kinematic Analysis and Modeling in Simmechanics®
401(1)
11.8 Summary
402(1)
References
402(1)
Additional Reading
403(1)
Problems
403(6)
Appendix A User Information and Instructions for MATLAB® 409(6)
A.1 Required MATLAB Toolkits
409(1)
A.2 Description of MATLAB Operators and Functions
409(1)
A.3 Preparing and Running Files in MATLAB and Operations in SimMechanics
409(4)
A.4 Rerunning MATLAB and SimMechanics Files with Existing *.csv Files
413(1)
A.5 Minimum Precision Requirement for Appendix File User Input
413(2)
Appendix B User Instructions for
Chapter 4 MATLAB® Files		 415(10)
B.1 Planar Four-Bar Mechanism
415(1)
B.2 Planar Four-Bar Fixed and Moving Centrode Generation
415(2)
B.3 Slider-Crank Mechanism
417(2)
B.4 Geared Five-Bar Mechanism (Two Gears)
419(1)
B.5 Geared Five-Bar Mechanism (Three Gears)
419(1)
B.6 Watt II Mechanism
420(2)
B.7 Stephenson III Mechanism
422(3)
Appendix C User Instructions for
Chapter 6 MATLAB® Files		 425(10)
C.1 Planar Four-Bar Mechanism
425(1)
C 2 Slider-Crank Mechanism
425(3)
C.3 Geared Five-Bar Mechanism (Two Gears)
428(1)
C.4 Geared Five-Bar Mechanism (Three Gears)
429(1)
C.5 Watt II Mechanism
430(1)
C.6 Stephenson III Mechanism
431(4)
Appendix D User Instructions for
Chapter 7 MATLAB® Files		 435(74)
D.1 Planar Four-Bar Mechanism
435(1)
D.2 Slider-Crank Mechanism
435(2)
D.3 Geared Five-Bar Mechanism (Two Gears)
437(1)
D.4 Geared Five-Bar Mechanism (Three Gears)
438(1)
D.5 Watt II Mechanism
439(2)
D.6 Stephenson III Mechanism
441(6)
Appendix E User Instructions for
Chapter 9 MATLAB® Files
447(6)
E.1 S, V Profile Generation and Cam Design: Constant Velocity Motion
447(1)
E.2 S, V, A Profile Generation and Cam Design: Constant Acceleration Motion
447(2)
E.3 S, V, A, J Profile Generation and Cam Design: Simple Harmonic Motion
449(2)
E.4 S, V, A, J Profile Generation and Cam Design: Cycloidal Motion
451(1)
E.5 S, V, A, J Profile Generation and Cam Design: 3-4-5 Polynomial Motion
451(1)
E.6 S, V, A, J Profile Generation and Cam Design: 4-5-6-7 Polynomial Motion
451(2)
Appendix F User Instructions for
Chapter 10 MATLAB® Files
453(4)
F.1 RRSS Mechanism
453(1)
F.2 RSSR Mechanism
453(4)
Appendix G User Instructions for
Chapter 11 MATLAB® Files
457(8)
G.1 R-P-P Robotic Manipulator Forward Kinematics
457(1)
G.2 R-R-P Robotic Manipulator Forward Kinematics
457(1)
G.3 R-R-R Robotic Manipulator Forward Kinematics
457(2)
G.4 R-R-C Robotic Manipulator Forward Kinematics
459(1)
G.5 R-P-P Robotic Manipulator Inverse Kinematics
460(1)
G.6 R-R-P Robotic Manipulator Inverse Kinematics
460(1)
G.7 R-R-R Robotic Manipulator Inverse Kinematics
461(1)
G.8 R-R-C Robotic Manipulator Inverse Kinematics
462(3)
Appendix H User Instructions for
Chapter 4 MATLAB® and SimMechanics® Files
465(10)
H.1 Planar Four-Bar Mechanism
465(1)
H.2 Slider-Crank Mechanism
465(2)
H.3 Geared Five-Bar Mechanism (Two Gears)
467(2)
H.4 Geared Five-Bar Mechanism (Three Gears)
469(1)
H.5 Watt II Mechanism
470(2)
H.6 Stephenson III Mechanism
472(3)
Appendix I User Instructions for
Chapter 6 MATLAB® and SimMechanics® Files
475(12)
I.1 Planar Four-Bar Mechanism
475(1)
I.2 Slider-Crank Mechanism
475(4)
I.3 Geared Five-Bar Mechanism (Two Gears)
479(1)
I.4 Geared Five-Bar Mechanism (Three Gears)
479(1)
I.5 Watt II Mechanism
480(2)
I.6 Stephenson III Mechanism
482(5)
Appendix J User Instructions for
Chapter 7 MATLAB® and SimMechanics® Files
487(14)
J.1 Planar Four-Bar Mechanism
487(1)
J.2 Slider-Crank Mechanism
488(2)
J.3 Geared Five-Bar Mechanism (Two Gears)
490(4)
J.4 Geared Five-Bar Mechanism (Three Gears)
494(1)
J 5 Watt II Mechanism
494(3)
J.6 Stephenson III Mechanism
497(4)
Appendix K User Instructions for
Chapter 10 MATLAB® and SimMechanics® Files
501(4)
K.1 RRSS Mechanism
501(1)
K.2 RSSR Mechanism
501(4)
Appendix L User Instructions for
Chapter 11 MATLAB® and SimMechanics® Files
505(4)
L.1 R-P-P Robotic Manipulator Forward Kinematics
505(1)
L.2 R-R-P Robotic Manipulator Forward Kinematics
505(1)
L.3 R-R-R Robotic Manipulator Forward Kinematics
506(1)
L.4 R-R-C Robotic Manipulator Forward Kinematics
507(2)
Index 509
Kevin Russell, PhD, PE, is an adjunct professor in the Department of Mechanical and Industrial Engineering at New Jersey Institute of Technology. Formerly, Dr. Russell was a senior mechanical engineer at the U.S. Army Research, Development and Engineering Center at Picatinny, New Jersey. His responsibilities included the utilization of computer-aided design and modeling and simulation tools for small and medium-caliber weapon-system improvement, concept development, and failure investigations. A registered professional engineer in New Jersey, he holds several small and medium-caliber weapon-system patents and has published extensively in engineering journals in the areas of kinematic synthesis, theoretical kinematics, and machine design.

Qiong "John" Shen, PhD, is an independent consultant at Softalink LLC, cofounder and president of a privately held data analytics company, and an adjunct professor in the department of electrical and computer engineering at New Jersey Institute of Technology. Dr. Shen obtained his Ph.D. degree by successfully completing National Science Foundation-funded research which also resulted in a U.S. patent. He was an engineering manager at Emerson Network Power in charge of supervisory control and data acquisition systems of critical facilities such as healthcare and datacenter. Dr. Shen has been actively involved in extensive academic research in robotics and mechanism synthesis.

Raj S. Sodhi, PhD, PE, is a professor in the department of mechanical and industrial engineering at New Jersey Institute of Technology. Dr. Sodhi has more than 30 years of experience in research and education related to mechanical design, mechanisms synthesis and manufacturing engineering, and is the author or coauthor of more than 100 refereed papers. He was awarded the Society of Manufacturing Engineerings University Lead Award. He also received the N. Watrous Procter & Gamble Award from the Society of Applied Mechanisms and Robotics, and the Ralph R. Teetor New Engineering Educator Award from the Society of Automotive Engineers.