Overview

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.; 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.

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9781280010811

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