Mechanisms and Robots Analysis with MATLAB®

By: Dan B. Marghitu

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Hardcover | 6 May 2009

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492 Pages

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22.86 x 15.88 x 3.18

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Modern technical advancements in areas such as robotics, multi-body systems, spacecraft, control, and design of complex mechanical devices and mechanisms in industry require the knowledge to solve advanced concepts in dynamics. "Mechanisms and Robots Analysis with MATLAB" provides a thorough, rigorous presentation of kinematics and dynamics. The book uses MATLAB as a tool to solve problems from the field of mechanisms and robots. The book discusses the tools for formulating the mathematical equations, and also the methods of solving them using a modern computing tool like MATLAB. An emphasis is placed on basic concepts, derivations, and interpretations of the general principles. The book is of great benefit to senior undergraduate and graduate students interested in the classical principles of mechanisms and robotics systems. Each chapter introduction is followed by a careful step-by-step presentation, and sample problems are provided at the end of every chapter.

Industry Reviews

From the reviews:

"Some critical mechanical engineering courses, such as dynamics of machinery, robotics, mechatronics, and advanced dynamics, etc., all involve extensive calculations. ... it is an excellent textbook or reference for the courses listed above. ... Without doubt, the most attractive feature of this book is the abundant MATLAB source code. ... This is an outstanding textbook on the MATLAB implementation of kinematics and dynamics of mechanisms and robots. It is suitable for graduat-level courses ... ." (Zhuang Li, International Journal of Acoustics and Vibration, Vol. 14 (3), 2009)

"The book deals with kinematics and dynamics of kinematical chains, which arise by the modeling of various mechanisms and robots. The main topic is the MATLAB's use to analyse and design such mechanical systems, and the demonstration of its convenience for these purposes. ... helpful to mechanical engineers, researchers and students." (Vladimir Evgenievich Puzyrev, Zentralblatt MATH, Vol. 1229, 2012)

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Introduction	p. 1
Degrees of Freedom and Motion	p. 1
Kinematic Pairs	p. 3
Dyads	p. 8
Independent Contours	p. 10
Planar Mechanism Decomposition	p. 10
Position Analysis	p. 15
Absolute Cartesian Method	p. 15
Slider-Crank (R-RRT) Mechanism	p. 16
Four-Bar (R-RRR) Mechanism	p. 20
R-RTR-RTR Mechanism	p. 27
R-RTR-RTR Mechanism: Complete Rotation	p. 31
Method I: Constraint Conditions	p. 31
Method II: Euclidian Distance Function	p. 35
Path of a Point on a Link with General Plane Motion	p. 37
Creating a Movie	p. 40
Velocity and Acceleration Analysis	p. 43
Introduction	p. 43
Velocity Field for a Rigid Body	p. 44
Acceleration Field for a Rigid Body	p. 46
Motion of a Point that Moves Relative to a Rigid Body	p. 50
Slider-Crank (R-RRT) Mechanism	p. 53
Four-Bar (R-RRT) Mechanism	p. 60
Inverted Slider-Crank Mechanism	p. 65
R-RTR-RTR Mechanism	p. 71
Derivative Method	p. 79
Independent Contour Equations	p. 95
Dynamic Force Analysis	p. 109
Equation of Motion for General Planar Motion	p. 109
D'Alembert's Principle	p. 114
Free-Body Diagrams	p. 115
Force Analysis Using Dyads	p. 116
RRR Dyad	p. 116
RRT Dyad	p. 118
RTR Dyad	p. 119
Force Analysis Using Contour Method	p. 120
Slider-Crank (R-RRT) Mechanism	p. 121
Inertia Forces and Moments	p. 124
Joint Forces and Drive Moment	p. 126
R-RTR-RTR Mechanism	p. 147
Inertia Forces and Moments	p. 151
Joint Forces and Drive Moment	p. 154
Direct Dynamics: Newton-Euler Equations of Motion	p. 183
Compound Pendulum	p. 183
Double Pendulum	p. 192
One-Link Planar Robot Arm	p. 201
Two-Link Planar Robot Arm	p. 204
Analytical Dynamics of Open Kinematic Chains	p. 209
Generalized Coordinates and Constraints	p. 209
Laws of Motion	p. 211
Lagrange's Equations for Two-Link Robot Arm	p. 213
Rotation Transformation	p. 225
RRT Robot Arm	p. 228
Direct Dynamics	p. 228
Inverse Dynamics	p. 246
Kane's Dynamical Equations	p. 250
RRTR Robot Arm	p. 257
Problems	p. 275
Problem Set: Mechanisms	p. 275
Problem Set: Robots	p. 291
Programs of Chapter 2: Position Analysis	p. 301
Slider-Crank (R-RRT) Mechanism	p. 301
Four-Bar (R-RRR) Mechanism	p. 303
R-RTR-RTR Mechanism	p. 306
R-RTR-RTR Mechanism: Complete Rotation	p. 309
R-RTR-RTR Mechanism: Complete Rotation Using Euclidian Distance Function	p. 312
Path of a Point on a Link with General Plane Motion: R-RRT Mechanism	p. 314
Path of a Point on a Link with General Plane Motion: R-RRR Mechanism	p. 315
Programs of Chapter 3: Velocity and Acceleration Analysis	p. 317
Slider-Crank (R-RRT) Mechanism	p. 317
Four-Bar (R-RRR) Mechanism	p. 322
Inverted Slider-Crank Mechanism	p. 326
R-RTR-RTR Mechanism	p. 331
R-RTR-RTR Mechanism: Derivative Method	p. 339
Inverted Slider-Crank Mechanism: Derivative Method	p. 344
R-RTR Mechanism: Derivative Method	p. 347
R-RRR Mechanism: Derivative Method	p. 349
R-RTR-RTR Mechanism: Contour Method	p. 354
Programs of Chapter 4: Dynamic Force Analysis	p. 363
Slider-Crank (R-RRT) Mechanism: Newton-Euler Method	p. 363
Slider-Crank (R-RRT) Mechanism: D'Alembert's Principle	p. 368
Slider-Crank (R-RRT) Mechanism: Dyad Method	p. 372
Slider-Crank (R-RRT) Mechanism: Contour Method	p. 378
R-RTR-RTR Mechanism: Newton-Euler Method	p. 382
R-RTR-RTR Mechanism: Dyad Method	p. 396
R-RTR-RTR Mechanism: Contour Method	p. 408
Programs of Chapter 5: Direct Dynamics	p. 423
Compound Pendulum	p. 423
Compound Pendulum Using the Function R (t,x)	p. 425
Double Pendulum	p. 426
Double Pendulum Using the File RR.m	p. 428
One-Link Planar Robot Arm	p. 430
One-Link Planar Robot Arm Using the m-File Function Rrobot.m	p. 432
Two-Link Planar Robot Arm Using the m-File Function RRrobot.m	p. 433
Programs of Chapter 6: Analytical Dynamics	p. 437
Lagrange's Equations for Two-Link Robot Arm	p. 437
Two-Link Robot Arm: Inverse Dynamics	p. 442
RRT Robot Arm	p. 444
RRT Robot Arm: Inverse Dynamics	p. 453
RRT Robot Arm: Kane's Dynamical Equations	p. 457
RRTR Robot Arm	p. 462
References	p. 475
Index	p. 477
Table of Contents provided by Ingram. All Rights Reserved.

Mechanisms and Robots Analysis with MATLAB®

At a Glance

Hardcover

Industry Reviews

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