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The Configuration Space Method for Kinematic Design of Mechanisms

Author: Elisha Sacks

Publisher: MIT Press

Published: 2010

Total Pages: 213

ISBN-13: 0262013894

A novel algorithmic approach to mechanism design based on a geometric representation of kinematic function called configuration space partitions. This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry. After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files. The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics.

Engineering Design Synthesis

Author: Amaresh Chakrabarti

Publisher: Springer Science & Business Media

Published: 2013-03-09

Total Pages: 371

ISBN-13: 1447137175

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This book brings together some of the most influential pieces of research undertaken around the world in design synthesis. It is the first comprehensive work of this kind and covers all three aspects of research in design synthesis: - understanding what constitutes and influences synthesis; - the major approaches to synthesis; - the diverse range of tools that are created to support this crucial design task. With its range of tools and methods covered, it is an ideal introduction to design synthesis for those intending to research in this area as well as being a valuable source of ideas for educators and practitioners of engineering design.

Classical and Modern Approaches in the Theory of Mechanisms

Author: Nicolae Pandrea

Publisher: John Wiley & Sons

Published: 2017-04-24

Total Pages: 361

ISBN-13: 1119221617

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Classical and Modern Approaches in the Theory of Mechanisms is a study of mechanisms in the broadest sense, covering the theoretical background of mechanisms, their structures and components, the planar and spatial analysis of mechanisms, motion transmission, and technical approaches to kinematics, mechanical systems, and machine dynamics. In addition to classical approaches, the book presents two new methods: the analytic-assisted method using Turbo Pascal calculation programs, and the graphic-assisted method, outlining the steps required for the development of graphic constructions using AutoCAD; the applications of these methods are illustrated with examples. Aimed at students of mechanical engineering, and engineers designing and developing mechanisms in their own fields, this book provides a useful overview of classical theories, and modern approaches to the practical and creative application of mechanisms, in seeking solutions to increasingly complex problems.

Configuration Space Representation for Micro-mechanism Function

Author:

Publisher:

Published: 1998

Total Pages: 4

ISBN-13:

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This paper describes the configuration space representation of mechanical function and shows how it supports the design of micro-mechanisms. The domain characteristics of curved geometry, joint play, and custom joints render traditional design tools inappropriate, but configuration spaces can model these characteristics. They represent the quantitative and the qualitative aspects of kinematic function in a concise geometric format that helps designers visualize system function under a range of operating conditions, find and correct design flaws, study joint play, and optimize performance. The approach is demonstrated on a surface micromachined counter meshing gear discrimination device developed at Sandia National Laboratories.

Geometric Design Tolerancing: Theories, Standards and Applications

Author: Hoda A. ElMaraghy

Publisher: Springer Science & Business Media

Published: 2012-12-06

Total Pages: 468

ISBN-13: 1461557976

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The importance of proper geometric dimensioning and tolerancing as a means of expressing the designer's functional intent and controlling the inevitable geometric and dimensional variations of mechanical parts and assemblies, is becoming well recognized. The research efforts and innovations in the field of tolerancing design, the development of supporting tools, techniques and algorithms, and the significant advances in computing software and hardware all have contributed to its recognition as a viable area of serious scholarly contributions. The field of tolerancing design is successfully making the transition to maturity where deeper insights and sound theories are being developed to offer explanations, and reliable implementations are introduced to provide solutions. Machine designers realized very early that manufacturing processes do not produce the nominal dimensions of designed parts. The notion of associating a lower and an upper limit, referred to as tolerances, with each dimen sion was introduced. Tolerances were specified to ensure the proper function of mating features. Fits of mating features included clearances, location fits, and interference fits, with various sub-grades in each category assigned a tolerance value depending on the nominal size of the mating features. During the inspection process, a part is rejected if a dimension fell outside the specified range. As the accuracy requirements in assemblies became tighter, designers had to consider other critical dimensions and allocate tolerances to them in order to ensure the assembly's functionality.

Singularities of Robot Mechanisms

Author: Oriol Bohigas

Publisher: Springer

Published: 2016-09-08

Total Pages: 201

ISBN-13: 3319329227

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This book presents the singular configurations associated with a robot mechanism, together with robust methods for their computation, interpretation, and avoidance path planning. Having such methods is essential as singularities generally pose problems to the normal operation of a robot, but also determine the workspaces and motion impediments of its underlying mechanical structure. A distinctive feature of this volume is that the methods are applicable to nonredundant mechanisms of general architecture, defined by planar or spatial kinematic chains interconnected in an arbitrary way. Moreover, singularities are interpreted as silhouettes of the configuration space when seen from the input or output spaces. This leads to a powerful image that explains the consequences of traversing singular configurations, and all the rich information that can be extracted from them. The problems are solved by means of effective branch-and-prune and numerical continuation methods that are of independent interest in themselves. The theory can be put into practice as well: a companion web page gives open access to implementations of the algorithms and the corresponding input files. Using them, the reader can gain hands-on experience on the topic, or analyse new mechanisms beyond those examined in the text. Overall, the book contributes new tools for robot design, and constitutes a single reference source of knowledge that is otherwise dispersed in the literature.

Robot Mechanisms

Author: Jadran Lenarcic

Publisher: Springer Science & Business Media

Published: 2012-06-12

Total Pages: 342

ISBN-13: 9400745222

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This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

Computer-Assisted Management and Control of Manufacturing Systems

Author: Spyros G. Tzafestas

Publisher: Springer Science & Business Media

Published: 2012-12-06

Total Pages: 504

ISBN-13: 1447109597

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Modem manufacturing systems involve many processes and operations that can be monitored and controlled at several levels of intelligence. At the highest level there is a computer that supervises the various manufacturing functions, whereas at the lowest level there are stand alone computer controlled systems of manufacturing processes and robotic cells. Until recenty computer-aided manufacturing systems constituted isolated "islands" of automation, each oriented to a particular application, but present day systems offer integrated approaches to manufacturing and enterprise operations. These modem systems, known as computer-integrated manufacturing (CIM) systems, can easily meet the current performance and manufacturing competitiveness requirements under strong environmental changes. CIM systems are much of a challenge, and imply a systemic approach to the design and operation of a manufacturing enterprise. Actualy, a CIM system must take into account in a unified way the following three views : the user view, the technology view, and the enterprise view. This means that CIM includes both the engineering and enterprise planning and control activities, as well as the information flow activities across all the stages of the system.

Algorithmic and Computational Robotics

Author: Bruce Donald

Publisher: CRC Press

Published: 2001-04-21

Total Pages: 390

ISBN-13: 1439864136

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Algorithms that control the computational processes relating sensors and actuators are indispensable for robot navigation and the perception of the world in which they move. Therefore, a deep understanding of how algorithms work to achieve this control is essential for the development of efficient and usable robots in a broad field of applications.

Qualitative Representations

Author: Kenneth D. Forbus

Publisher: MIT Press

Published: 2019-01-29

Total Pages: 441

ISBN-13: 0262349817

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An argument that qualitative representations—symbolic representations that carve continuous phenomena into meaningful units—are central to human cognition. In this book, Kenneth Forbus proposes that qualitative representations hold the key to one of the deepest mysteries of cognitive science: how we reason and learn about the continuous phenomena surrounding us. Forbus argues that qualitative representations—symbolic representations that carve continuous phenomena into meaningful units—are central to human cognition. Qualitative representations provide a basis for commonsense reasoning, because they enable practical reasoning with very little data; this makes qualitative representations a useful component of natural language semantics. Qualitative representations also provide a foundation for expert reasoning in science and engineering by making explicit the broad categories of things that might happen and enabling causal models that help guide the application of more quantitative knowledge as needed. Qualitative representations are important for creating more human-like artificial intelligence systems with capabilities for spatial reasoning, vision, question answering, and understanding natural language. Forbus discusses, among other topics, basic ideas of knowledge representation and reasoning; qualitative process theory; qualitative simulation and reasoning about change; compositional modeling; qualitative spatial reasoning; and learning and conceptual change. His argument is notable both for presenting an approach to qualitative reasoning in which analogical reasoning and learning play crucial roles and for marshaling a wide variety of evidence, including the performance of AI systems. Cognitive scientists will find Forbus's account of qualitative representations illuminating; AI scientists will value Forbus's new approach to qualitative representations and the overview he offers.