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21st Century Kinematics: The 2012 NSF Workshop
Kategorie	Beschreibung
036a	XA-GB
037b	eng
087q	978-1-4471-4509-7
100	McCarthy, John Michael
331	21st Century Kinematics
335	The 2012 NSF Workshop
410	London
412	Springer
425	2013
425a	2013
433	Online-Ressource (XIII, 244 p. 97 illus., 43 illus. in color, digital)
451b	SpringerLink. Bücher
501	Description based upon print version of record
517	21st Century Kinematics; Preface; Acknowledgements; Contents; Contributors; Chapter 1: Polynomials, Computers, and Kinematics for the 21st Century; 1.1 Introduction; 1.2 The Recent Past; 1.2.1 Polynomials and Kinematics; 1.2.2 Computers and Kinematics; 1.3 Recent Results; 1.3.1 Analysis and Synthesis of Machine Systems; 1.3.2 Compliant Mechanisms; 1.3.3 Cable Robots and Tensegrity Systems; 1.4 Workshop on 21st Century Kinematics; References; Chapter 2: Kinematic Synthesis; 2.1 Kinematics Equations of a Serial Chain; 2.1.1 The Denavit-Hartenberg Convention. 2.2 The Product of Exponentials Form of the Kinematics Equations2.2.1 Relative Displacements; 2.3 The Even Clifford Algebra C+(P3); 2.3.1 Exponential of a Vector; 2.3.2 Exponential of a Screw; 2.3.3 Clifford Algebra Kinematics Equations; 2.4 Design Equations for a Serial Chain; 2.4.1 Speciﬁed Task Positions; 2.4.2 The Independent Synthesis Equations; 2.4.3 Counting the Equations and Unknowns; 2.5 Assembling the Design Equations; 2.5.1 The 3C Chain; 2.5.2 RCC, RRC and RRR Chains; 2.5.3 PCC, PPC and PPP Chains; 2.6 The Synthesis of 5C and Related Chains; 2.6.1 The Synthesis Process. 2.7 Planar Serial Chains2.7.1 Complex Number Kinematics Equations; 2.8 The Even Clifford Algebra C+(P2); 2.8.1 Clifford Algebra Kinematics Equations; 2.9 Design Equations for the Planar nR Chain; 2.9.1 Relative Kinematics Equations for Speciﬁed Task Positions; 2.9.2 The Number of Design Positions and Free Parameters; 2.9.3 The Standard Form Equations; 2.9.4 Synthesis of 3R Serial Chains; Three Task Positions; Five Task Positions; Seven Task Positions; 2.9.5 Single DOF Coupled Serial Chains; 2.10 Reachable Surfaces; 2.11 Spatial Serial Chains; 2.11.1 Linear Product Decomposition. 2.11.2 The Sphere2.11.3 The Circular Torus; 2.12 Summary; References; Chapter 3: Synthesis of Spatial Mechanisms to Model Human Joints; 3.1 Introduction; 3.2 New Sequential Approach; 3.3 M1 Anatomical Models of the Passive Motion; 3.3.1 Anatomical Knee Model; 3.3.1.1 Physical Foundations of the Model; 3.3.1.2 Mathematical Formulation; 3.3.1.3 Experimental Sessions; 3.3.1.4 Parameter Optimization; 3.3.1.5 Results; 3.3.2 Anatomical Ankle Model; 3.3.2.1 Physical Foundations of the Model; 3.3.2.2 Mathematical Formulation; 3.3.2.3 Experimental Session; 3.3.2.4 Parameter Optimization. 3.3.2.5 Results3.3.3 Anatomical Lower Leg Model; 3.3.3.1 Physical Foundations of the Model; 3.3.3.2 Mathematical Formulation; 3.3.3.3 Experimental Session; 3.3.3.4 Parameter Optimization; 3.3.3.5 Results; 3.4 M1 Models for Prosthetic Design; 3.5 Conclusions; References; Chapter 4: Kinematics and Algebraic Geometry; 4.1 Kinematic Mapping; 4.1.1 Study's Kinematic Mapping; 4.1.2 Fixed and Moving Frame; 4.1.3 Planar and Spherical Kinematic Mapping; 4.1.4 Euclidean Displacements and Dual Quaternions; 4.1.5 Geometry of the Study Quadric; 4.2 Some Basics from Algebraic Geometry. 4.2.1 Ideals and Afﬁne Varieties
527	Buchausg. u.d.T.ISBN: 978-1-447-14509-7
540a	ISBN 978-1-4471-4510-3
700	\|TJFM1
700	\|TEC037000
700	\|TEC004000
700b	\|629.892
700c	\|TJ210.2-211.495
700c	\|T59.5
750	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.
012	373429606
081	McCarthy, J. Michael: 21st Century Kinematics
100	Springer E-Book
125a	Elektronischer Volltext - Campuslizenz
655e	$uhttp://dx.doi.org/10.1007/978-1-4471-4510-3