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21st Century Kinematics

Author : J. Michael McCarthy

Publisher : Springer Science & Business Media

Page : 251 pages

File Size : 17,40 MB

Release : 2012-08-04

Category : Technology & Engineering

ISBN : 1447145100

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Book Description

21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, it takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will provide admirable supporting theory for a graduate course in modern kinematics and should be of considerable interest to researchers in mechanical design, robotics or protein kinematics or who have a broader interest in algebraic geometry and its applications.



21st Century Kinematics

Author : J. Michael McCarthy

Publisher : Springer

Page : 246 pages

File Size : 43,76 MB

Release : 2012-08-04

Category : Technology & Engineering

ISBN : 9781447145110

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Book Description

21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, it takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will provide admirable supporting theory for a graduate course in modern kinematics and should be of considerable interest to researchers in mechanical design, robotics or protein kinematics or who have a broader interest in algebraic geometry and its applications.



The Art of Modeling Stars in the 21st Century (IAU S252)

Author : International Astronomical Union. Symposium

Publisher : Cambridge University Press

Page : 506 pages

File Size : 44,24 MB

Release : 2008-12-18

Category : Science

ISBN : 9780521889834

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Book Description

Stellar models are the very basic building blocks with which we build up our knowledge of the Universe. New numerical experiments are heralding a new level of sophistication in our ability to model, and understand, how stars work. This volume provides an overview and the most recent advances in modeling of stellar structure and evolution. Modeling of stars relies on our understanding of the detailed physical processes happening in stars, and the most recent observations of stars made by modern large telescopes and current high technologies. IAU Symposium 252 presents the most recent developments in five key areas, including: improvements of the physical ingredients of stellar models; the evolution of low and intermediate mass stars; the evolution of massive stars; close binary evolution; and stellar physics in the era of very large telescopes. This overview of stellar research is at a level suitable for research astronomers and graduate students.



Computational Kinematics

Author : Andrés Kecskeméthy

Publisher : Springer Science & Business Media

Page : 394 pages

File Size : 43,47 MB

Release : 2009-10-06

Category : Technology & Engineering

ISBN : 3642019471

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Book Description

Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The present book collects up-to-date methods as presented during the Fifth International Workshop on Computational Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, balancing and construction of novel mechanical devices, detection and treatment of singularities, as well as computational methods for gear design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.



Mastering Kinematics

Author :

Publisher : Cybellium Ltd

Page : 152 pages

File Size : 35,71 MB

Release :

Category : Computers

ISBN :

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Book Description

Unveil the Secrets of Motion and Mechanisms In the realm of engineering and mechanics, understanding the principles of kinematics is paramount to designing and analyzing moving systems. "Mastering Kinematics" is your comprehensive guide to unraveling the complexities of motion, empowering you to comprehend, model, and optimize mechanical systems with precision. About the Book: As technology advances and mechanical systems become more intricate, kinematics emerges as a foundational discipline for engineers and designers. "Mastering Kinematics" offers an in-depth exploration of kinematic principles—a fundamental aspect of mechanics. This book caters to both newcomers and experienced practitioners aiming to excel in kinematic analysis, design, and implementation. Key Features: Kinematic Fundamentals: Begin by understanding the core principles of kinematics. Learn about displacement, velocity, acceleration, and the laws that govern motion. Planar and Spatial Mechanisms: Dive into the mechanics of mechanisms. Explore planar and spatial motion, understanding how mechanisms work and interact. Kinematic Analysis: Grasp the art of analyzing the motion of mechanical systems. Learn how to use equations, graphs, and software tools to study kinematic behavior. Forward and Inverse Kinematics: Explore techniques for solving forward and inverse kinematic problems. Learn how to determine end effector positions and joint configurations. Robotics Kinematics: Understand the significance of kinematics in robotics. Learn how to model and analyze the motion of robotic manipulators and end effectors. Kinematic Design: Delve into the realm of kinematic design. Explore how to optimize linkages, mechanisms, and robotic systems for desired motion. Real-World Applications: Gain insights into how kinematics is applied across industries. From robotics to automotive engineering, discover the diverse applications of kinematic principles. Why This Book Matters: In a world driven by innovation and engineering excellence, mastering kinematics offers a competitive edge. "Mastering Kinematics" empowers engineers, designers, robotics enthusiasts, and technology adopters to leverage kinematic principles, enabling them to design, analyze, and optimize mechanical systems with precision and efficiency. Unravel the Mysteries of Motion: In the landscape of mechanics and engineering, kinematics is the key to understanding motion. "Mastering Kinematics" equips you with the knowledge needed to leverage kinematic principles, enabling you to comprehend, model, and optimize the behavior of mechanical systems. Whether you're an experienced practitioner or new to the world of kinematics, this book will guide you in building a solid foundation for effective motion analysis and design. Your journey to mastering kinematics starts here. © 2023 Cybellium Ltd. All rights reserved. www.cybellium.com



The Navier-Stokes Problem in the 21st Century

Author : Pierre Gilles Lemarie-Rieusset

Publisher : CRC Press

Page : 741 pages

File Size : 13,76 MB

Release : 2018-09-03

Category : Mathematics

ISBN : 1315362732

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Book Description

Up-to-Date Coverage of the Navier–Stokes Equation from an Expert in Harmonic Analysis The complete resolution of the Navier–Stokes equation—one of the Clay Millennium Prize Problems—remains an important open challenge in partial differential equations (PDEs) research despite substantial studies on turbulence and three-dimensional fluids. The Navier–Stokes Problem in the 21st Century provides a self-contained guide to the role of harmonic analysis in the PDEs of fluid mechanics. The book focuses on incompressible deterministic Navier–Stokes equations in the case of a fluid filling the whole space. It explores the meaning of the equations, open problems, and recent progress. It includes classical results on local existence and studies criterion for regularity or uniqueness of solutions. The book also incorporates historical references to the (pre)history of the equations as well as recent references that highlight active mathematical research in the field.



Theorizing STEM Education in the 21st Century

Author : Kehdinga George Fomunyam

Publisher : BoD – Books on Demand

Page : 238 pages

File Size : 23,48 MB

Release : 2020-02-26

Category : Education

ISBN : 1789857015

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Book Description

Theorising STEM Education in the 21st Century is a book that captures the essence of Science, Technology, Engineering and Mathematics and the intricacies of STEM education in the contemporary society. It explores STEM as an interdisciplinary field as well as the individual disciplines that make up STEM. This ensures the field of STEM as a whole is theorised. The book provides critical insight on STEM education from Cairo to Cape Town or from America to Indonesia. With a team of authors from universities across the world, the book is a vital contribution to critical scholarship on STEM education in contemporary times.



Geometric Design of Linkages

Author : J. Michael McCarthy

Publisher : Springer Science & Business Media

Page : 466 pages

File Size : 40,2 MB

Release : 2010-11-11

Category : Science

ISBN : 1441978925

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Book Description

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 work piece, 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. The principles presented in this book form the foundation for a design theory for these devices. The emphasis, however, is on articulated systems with fewer degrees of freedom than that of the typical robotic system, and therefore, less complexity. This book will be useful to mathematics, engineering and computer science departments teaching courses on mathematical modeling of robotics and other articulated mechanical systems. This new edition includes research results of the past decade on the synthesis of multi loop 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 numerical homotopy and the linear product decomposition of polynomial systems. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are use throughout to demonstrate the theory.



Modern Robotics

Author : Kevin M. Lynch

Publisher : Cambridge University Press

Page : 545 pages

File Size : 30,63 MB

Release : 2017-05-25

Category : Computers

ISBN : 1107156300

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Book Description

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.



An Introduction to Theoretical Kinematics

Author : J. M. McCarthy

Publisher : MIT Press (MA)

Page : 130 pages

File Size : 49,48 MB

Release : 1990

Category : Computers

ISBN : 9780262132527

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Book Description

Introduction to Theoretical Kinematics provides a uniform presentation of the mathematical foundations required for studying the movement of a kinematic chain that makes up robot arms, mechanical hands, walking machines, and similar mechanisms. It is a concise and readable introduction that takes a more modern approach than other kinematics texts and introduces several useful derivations that are new to the literature. The author employs a unique format, highlighting the similarity of the mathematical results for planar, spherical, and spatial cases by studying them all in each chapter rather than as separate topics. For the first time, he applies to kinematic theory two tools of modern mathematics - the theory of multivectors and the theory of Clifford algebras - that serve to clarify the seemingly arbitrary nature of the construction of screws and dual quaternions. The first two chapters formulate the matrices that represent planar, spherical, and spatial displacements and examine a continuous set of displacements which define a continuous movement of a body, introducing the "tangent operator." Chapter 3 focuses on the tangent operators of spatial motion as they are reassembled into six-dimensional vectors or screws, placing these in the modern setting of multivector algebra. Clifford algebras are used in chapter 4 to unify the construction of various hypercomplex "quaternion" numbers. Chapter 5 presents the elementary formulas that compute the degrees of freedom or mobility, of kinematic chains, and chapter 6 defines the structure equations of these chains in terms of matrix transformations. The last chapter computes the quaternion form of the structure equations for ten specific mechanisms. These equations define parameterized manifolds in the Clifford algebras, or "image spaces," associated with planar, spherical, and spatial displacements. McCarthy reveals a particularly interesting result by showing that these parameters can be mathematically manipulated to yield hyperboloids or intersections of hyperboloids.