Kinematics and dynamics of mechanical systems implementation in MATLAB B and simscape multibody
Updated throughout for the third edition, Kinematics and Dynamics of Mechanical Systems: Implementation in MATLAB(tm) and Simscape Multibody(tm) offers step-by-step instruction on the fundamentals of mechanism kinematics, synthesis, statics and dynamics, alongside demonstrating its real-world applic...
| Other Authors: | , , |
|---|---|
| Format: | eBook |
| Language: | Inglés |
| Published: |
Boca Raton, Florida ; Abingdon, Oxon :
CRC Press
[2023]
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| Edition: | Third edition |
| Subjects: | |
| See on Biblioteca Universitat Ramon Llull: | https://discovery.url.edu/permalink/34CSUC_URL/1im36ta/alma991009742738006719 |
Table of Contents:
- Cover
- Half Title
- Title Page
- Copyright Page
- Dedication
- Table of Contents
- Preface
- Authors
- 1. Introduction to Kinematics
- 1.1 Kinematics
- 1.2 Kinematic Chains and Mechanisms
- 1.3 Mobility, Planar, and Spatial Mechanisms
- 1.4 Types of Mechanism Motion
- 1.5 Kinematic Synthesis
- 1.6 Units and Conversions
- 1.7 Software Resources
- 1.8 Summary
- References
- Additional Reading
- 2. Mathematical Concepts in Kinematics
- 2.1 Introduction
- 2.2 Complex Numbers and Operations
- 2.2.1 Complex Number Forms
- 2.2.2 Complex Number Addition
- 2.2.3 Complex Number Multiplication and Differentiation
- 2.3 Vector and Point Representation
- 2.4 Linear Simultaneous Equations, Matrices, and Matrix Operations
- 2.4.1 Linear Simultaneous Equation Systems and Matrices
- 2.4.2 Matrix Transpose, Addition, Subtraction, and Multiplication
- 2.4.3 The Identity Matrix and Matrix Inversion
- 2.5 Intermediate and Total Spatial Motion
- 2.6 General Transformation Matrix
- 2.7 Summary
- References
- Additional Reading
- Problems
- 3. Fundamental Concepts in Kinematics
- 3.1 Types of Planar and Spatial Mechanisms
- 3.1.1 Planar Four-Bar Mechanism
- 3.1.2 Slider-Crank Mechanism
- 3.1.3 Geared Five-Bar Mechanism
- 3.1.4 Planar Multiloop Six-Bar Mechanisms
- 3.1.5 Spatial Four-Bar Mechanisms
- 3.2 Links, Joints, and Mechanism Mobility
- 3.3 Number Synthesis
- 3.4 Grashof's Criteria and Transmission Angle
- 3.5 Circuit Defect
- 3.6 Mechanism Inversion
- 3.7 Passive Degree of Freedom and Paradoxes
- 3.8 Summary
- References
- Problems
- 4. Kinematic Analysis of Planar Mechanisms
- 4.1 Introduction
- 4.2 Numerical Solution Method for Two Simultaneous Equations
- 4.3 Link Velocity and Acceleration Components in Planar Space
- 4.4 Four-Bar Mechanism Analysis
- 4.4.1 Displacement Equations.
- 4.4.2 Velocity Equations
- 4.4.3 Acceleration Equations
- 4.4.4 Kinematics of Coupler Locations of Interest
- 4.4.5 Instant Center, Centrodes, and Centrode Generation
- 4.5 Slider-Crank Mechanism Analysis
- 4.5.1 Displacement Equations
- 4.5.2 Velocity Equations
- 4.5.3 Acceleration Equations
- 4.5.4 Centrode Generation
- 4.6 Geared Five-Bar Mechanism Analysis
- 4.6.1 Displacement Equations
- 4.6.2 Velocity Equations
- 4.6.3 Acceleration Equations
- 4.6.4 Kinematics of Intermediate Link Locations of Interest
- 4.7 Watt II Mechanism Analysis
- 4.8 Stephenson III Mechanism Analysis
- 4.8.1 Displacement Equations
- 4.8.2 Velocity Equations
- 4.8.3 Acceleration Equations
- 4.8.4 Kinematics of Intermediate Link Locations of Interest
- 4.9 Time and Driver Angular Velocity
- 4.10 Mechanism Configurations
- 4.11 Constructing Cognates
- 4.12 Planar Mechanism Kinematic Analysis and Modeling in Simscape Multibody™
- 4.13 Summary
- References
- Additional Reading
- Problems
- 5. Dimensional Synthesis
- 5.1 Introduction
- 5.2 Branch and Order Defects
- 5.3 Planar Four-Bar Motion Generation: Three Precision Positions
- 5.4 Order- and Branch-Defect Elimination
- 5.5 Path Generation versus Motion Generation
- 5.6 Stephenson III Motion Generation: Three Precision Positions
- 5.7 Planar Four-Bar Function Generation: Three Precision Points
- 5.8 Planar Four-Bar Function Generation: FSPs and MSPs
- 5.9 Mechanism Dimensions: From Dimensional Synthesis to Kinematic Analysis
- 5.10 Summary
- References
- Additional Reading
- Problems
- 6. Static Force Analysis of Planar Mechanisms
- 6.1 Introduction
- 6.2 Static Loading in Planar Space
- 6.3 Four-Bar Mechanism Analysis
- 6.4 Slider-Crank Mechanism Analysis
- 6.5 Geared Five-Bar Mechanism Analysis
- 6.6 Watt II Mechanism Analysis
- 6.7 Stephenson III Mechanism Analysis.
- 6.8 Planar Mechanism Static Force Analysis and Modeling in Simscape Multibody™
- 6.9 Summary
- References
- Additional Reading
- Problems
- 7. Dynamic Force Analysis of Planar Mechanisms
- 7.1 Introduction
- 7.2 Dynamic Loading in Planar Space
- 7.3 Four-Bar Mechanism Analysis
- 7.4 Slider-Crank Mechanism Analysis
- 7.5 Geared Five-Bar Mechanism Analysis
- 7.6 Watt II Mechanism Analysis
- 7.7 Stephenson III Mechanism Analysis
- 7.8 Mass Moment of Inertia and Computer-Aided Design Software
- 7.9 Planar Mechanism Dynamic Force Analysis and Modeling in Simscape Multibody™
- 7.10 Summary
- References
- Additional Reading
- Problems
- 8. Design and Kinematic Analysis of Gears
- 8.1 Introduction
- 8.2 Gear Types
- 8.3 SPUR-Gear Nomenclature and Relationships of Mating Gears
- 8.3.1 Spur-Gear Nomenclature
- 8.3.2 Pressure Angle and Involute Tooth Profile
- 8.3.3 Gear Center Distance and Contact Ratio
- 8.3.4 Gear-Tooth Interference and Undercutting
- 8.3.5 Backlash
- 8.4 Helical-Gear Nomenclature
- 8.5 Gear Kinematics
- 8.5.1 Spur Gears and Gear Trains
- 8.5.2 Planetary Gear Trains
- 8.5.3 Rack and Pinion Gears
- 8.5.4 Helical Gears
- 8.5.5 Bevel Gears
- 8.5.6 Worm Gears
- 8.6 Summary
- References
- Additional Reading
- Problems
- 9. Design and Kinematic Analysis of Disk Cams
- 9.1 Introduction
- 9.2 Follower Types
- 9.3 Follower Motion
- 9.3.1 Rise, Fall, and Dwell
- 9.3.2 Displacement, Velocity, Acceleration, and Jerk
- 9.3.3 Constant Velocity Motion
- 9.3.4 Constant Acceleration Motion
- 9.3.5 Simple Harmonic Motion
- 9.3.6 Cycloidal Motion
- 9.3.7 Polynomial Motion
- 9.4 Disk Cam Design and Pressure Angle
- 9.5 Summary
- References
- Additional Reading
- Problems
- 10. Kinematic Analysis of Spatial Mechanisms
- 10.1 Introduction
- 10.2 RRSS Mechanism Analysis
- 10.2.1 Displacement Equations.
- 10.2.2 Velocity Equations
- 10.2.3 Acceleration Equations
- 10.3 RSSR Mechanism Analysis
- 10.3.1 Displacement Equations
- 10.3.2 Velocity Equations
- 10.3.3 Acceleration Equations
- 10.4 Four-Revolute Spherical Mechanism Analysis
- 10.5 Planar Four-Bar Kinematic Analysis Using RRSS and RSSR Kinematic Equations
- 10.6 Spatial Mechanism Kinematic Analysis and Modeling in Simscape Multibody™
- 10.7 Summary
- References
- Problems
- 11. Introduction to Robotic Manipulators
- 11.1 Introduction
- 11.2 Terminology and Nomenclature
- 11.3 Robotic Manipulator Mobility and Types
- 11.4 The General Transformation Matrix
- 11.5 Forward Kinematics
- 11.5.1 Definition and Application
- 11.5.2 P-P-P
- 11.5.3 R-P-P
- 11.5.4 R-R-P
- 11.5.5 R-R-R
- 11.5.6 R-R-C
- 11.6 Inverse Kinematics
- 11.6.1 Definition and Application
- 11.6.2 P-P-P
- 11.6.3 R-P-P
- 11.6.4 R-R-P
- 11.6.5 R-R-R
- 11.6.6 R-R-C
- 11.7 Robotic Manipulator Kinematic Analysis and Modeling in Simscape Multibody™
- 11.8 Summary
- References
- Additional Reading
- Problems
- Appendix A: User Information and Instructions for MATLAB®
- A.1 Required MATLAB Toolkits
- A.2 Description of MATLAB Operators and Functions
- A.3 Preparing and Running Files in MATLAB and Operations in Simscape Multibody
- A.4 Description of Simscape Multibody Functions
- A.5 Rerunning MATLAB and Simscape Multibody Files with Existing *.csv Files
- A.6 Minimum Precision Requirement for Appendix File User Input
- Appendix B: User Instructions for Chapter 4 MATLAB® Files
- B.1 Planar Four-Bar Mechanism
- B.2 Planar Four-Bar Fixed and Moving Centrode Generation
- B.3 Slider-Crank Mechanism
- B.4 Geared Five-Bar Mechanism (Two Gears)
- B.5 Geared Five-Bar Mechanism (Three Gears)
- B.6 Watt II Mechanism
- B.7 Stephenson III Mechanism.
- Appendix C: User Instructions for Chapter 6 MATLAB® Files
- C.1 Planar Four-Bar Mechanism
- C.2 Slider-Crank Mechanism
- C.3 Geared Five-Bar Mechanism (Two Gears)
- C.4 Geared Five-Bar Mechanism (Three Gears)
- C.5 Watt II Mechanism
- C.6 Stephenson III Mechanism
- Appendix D: User Instructions for Chapter 7 MATLAB® Files
- D.1 Planar Four-Bar Mechanism
- D.2 Slider-Crank Mechanism
- D.3 Geared Five-Bar Mechanism (Two Gears)
- D.4 Geared Five-Bar Mechanism (Three Gears)
- D.5 Watt II Mechanism
- D.6 Stephenson III Mechanism
- Appendix E: User Instructions for Chapter 9 MATLAB® Files
- E.1 S, V Profile Generation and Cam Design: Constant Velocity Motion
- E.2 S, V, A Profile Generation and Cam Design: Constant Acceleration Motion
- E.3 S, V, A, J Profile Generation and Cam Design: Simple Harmonic Motion
- E.4 S, V, A, J Profile Generation and Cam Design: Cycloidal Motion
- E.5 S, V, A, J Profile Generation and Cam Design: 3-4-5 Polynomial Motion
- E.6 S, V, A, J Profile Generation and Cam Design: 4-5-6-7 Polynomial Motion
- Appendix F: User Instructions for Chapter 10 MATLAB® Files
- F.1 RRSS Mechanism
- F.2 RSSR Mechanism
- Appendix G: User Instructions for Chapter 11 MATLAB® Files
- G.1 R-P-P Robotic Manipulator Forward Kinematics
- G.2 R-R-P Robotic Manipulator Forward Kinematics
- G.3 R-R-R Robotic Manipulator Forward Kinematics
- G.4 R-R-C Robotic Manipulator Forward Kinematics
- G.5 R-P-P Robotic Manipulator Inverse Kinematics
- G.6 R-R-P Robotic Manipulator Inverse Kinematics
- G.7 R-R-R Robotic Manipulator Inverse Kinematics
- G.8 R-R-C Robotic Manipulator Inverse Kinematics
- Appendix H: User Instructions for Chapter 4 MATLAB® and Simscape Multibody™ Files
- H.1 Planar Four-Bar Mechanism
- H.2 Slider-Crank Mechanism
- H.3 Geared Five-Bar Mechanism (Two Gears)
- H.4 Geared Five-Bar Mechanism (Three Gears).
- H.5 Watt II Mechanism.
