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M. Z. Kolovsky, A. N. Evgrafov, Yu. A. Semenov, A. V.'s Advanced Theory of Mechanisms and Machines PDF

By M. Z. Kolovsky, A. N. Evgrafov, Yu. A. Semenov, A. V. Slousch (auth.)

ISBN-10: 3540465162

ISBN-13: 9783540465164

ISBN-10: 3642536727

ISBN-13: 9783642536724

This publication relies on a lecture direction added by means of the authors over a interval of a long time to the scholars in mechanics on the St. Petersburg nation Technical collage (the former Leningrad Polytechnic Institute). the fabric differs from quite a few conventional textual content books on thought of Machines and Mechanisms via a extra profound elaboration of the equipment of structural, geometric, kinematic and dynamic research of mechanisms and machines, consisting in either the improvement of recognized tools and the construction of latest ones that keep in mind the desires of modem computing device development and the opportunity of modem desktops. The structural research of mechanisms relies on a brand new definition of structural workforce which makes it attainable to think about closed constructions that can't be diminished to linkages of Assur teams. The tools of geometric research are tailored to the research of planar and spatial mechanisms with closed constitution and several other levels of movability. substantial cognizance is dedicated to the issues of con­ figuration multiplicity of a mechanism with given enter coordinates in addition to to the issues of distinguishing and removal singular positions, that is of significant significance for the layout of robotic platforms. those difficulties also are mirrored within the description of the equipment of kinematic research hired for the investi­ gation of either open ("tree"-type) constructions and closed mechanisms.

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Extra resources for Advanced Theory of Mechanisms and Machines

Example text

According to the character of permitted relative motion); because of that, henceforth we will consider only revolute and prismatic pairs. A linkage possessing revolute pairs exclusively is said to be revolute. Planar linkages with one degree of movability can be generated through attaching a one-bar group of movability one with revolute or prismatic pair to the frame (Fig. 17a), and by attaching to this successively additional planar Assur groups. One of these mechanisms, the slider-crank mechanism, has been considered above.

0 ,,' , \• " , .. - I ,. '", i· '-00' i ~,", " \ • I' / " 2 1. - ' " Fig. 22. 7 Mechanisms with Variable Structure. Structural Transformations of Mechanisms It has been shown above that the structure of a mechanism depends on the loca- tion of its inputs. e. the inputs of a mechanism, can vary. , in the four-piston internal combustion engine (Fig. 23), the slide blocks of the slider-crank mechanisms become both driving and driven ones during one cycle. In the walking process, every leg of a walking mechanism (Fig.

12a showed the open kinematic chain of a spatial robot. Input coordinates of the chain are the coordinates ql-q6 determining the relative positions of links. Output coordinates are the coordinates determining the spatial position ofthe executing device - gripper 6 considered as a rigid body. , coordinates x M, Y M, ZM of the gripper point M, selected to be a pole, and three Euler angles Ij/, (), ({J determining the orientation of the gripper. 9) = IItp(Ql, .. ·,Q6). For mechanisms with higher kinematic pairs the position functions also depend on the form of contacting surfaces.

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Advanced Theory of Mechanisms and Machines by M. Z. Kolovsky, A. N. Evgrafov, Yu. A. Semenov, A. V. Slousch (auth.)


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