Interdisciplinary Applied Mathematics

Geometric Design of Linkages

Authors: McCarthy, J. Michael, Soh, Gim Song

  • The only book that brings together the kinematic synthesis theory of planar, spherical and spatial kinematic chains
  • This mathematical theory forms the foundation of numerical methods for dimensional synthesis of the articulated skeletons of modern machine, manipulator and robotic systems
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  • ISBN 978-1-4419-7892-9
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About this Textbook

 

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)

About the authors

J. Michael McCarthy is a Professor in the Department of Mechanical Engineering at University of California, Irvine.

Reviews

From the reviews of the second 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)

“The book to review is the most extensive source of the synthesis side, containing all the theoretical basics needed for the design of planar, spherical and spatial linkages. … this book is a real guide from the very beginnings of synthesis of simple mechanisms to the latest, theoretically involved results in the synthesis of multi-loop planar, spherical and spatial linkages.” (Manfred Husty, Zentralblatt MATH, Vol. 1227, 2012)


Table of contents (16 chapters)

  • Introduction

    McCarthy, J. Michael (et al.)

    Pages 1-14

  • Analysis of Planar Linkages

    McCarthy, J. Michael (et al.)

    Pages 15-53

  • Graphical Synthesis in the Plane

    McCarthy, J. Michael (et al.)

    Pages 55-74

  • Planar Kinematics

    McCarthy, J. Michael (et al.)

    Pages 75-92

  • Algebraic Synthesis of Planar Chains

    McCarthy, J. Michael (et al.)

    Pages 93-123

Buy this book

eBook $89.00
price for USA (gross)
  • ISBN 978-1-4419-7892-9
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $124.00
price for USA
  • ISBN 978-1-4419-7891-2
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $124.00
price for USA
  • ISBN 978-1-4614-2767-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Geometric Design of Linkages
Authors
Series Title
Interdisciplinary Applied Mathematics
Series Volume
11
Copyright
2011
Publisher
Springer-Verlag New York
Copyright Holder
Springer Science+Business Media, LLC
eBook ISBN
978-1-4419-7892-9
DOI
10.1007/978-1-4419-7892-9
Hardcover ISBN
978-1-4419-7891-2
Softcover ISBN
978-1-4614-2767-4
Series ISSN
0939-6047
Edition Number
2
Number of Pages
XXVIII, 448
Topics