TY  - BOOK
AU  - Marghitu,Dan B.
TI  - Mechanisms and robots analysis with MATLAB
SN  - 1848003900
AV  - TJ181 .M369 2009
U1  - 629.892 22
PY  - 2009///]
CY  - New York, London
PB  - Springer
KW  - Robots
KW  - Kinematics
KW  - Mechanical movements
N1  - Includes bibliographical references and index; 1; Introduction --; 1.1; Degrees of Freedom and Motion --; 1.2; Kinematic Pairs --; 1.3; Dyads --; 1.4; Independent Contours --; 1.5; Planar Mechanism Decomposition --; 2; Position Analysis --; 2.1; Absolute Cartesian Method --; 2.2; Slider-Crank (R-RRT) Mechanism --; 2.3; Four-Bar (R-RRR) Mechanism --; 2.4; R-RTR-RTR Mechanism --; 2.5; R-RTR-RTR Mechanism: Complete Rotation --; 2.5.1; Method I: Constraint Conditions --; 2.5.2; Method II: Euclidian Distance Function --; 2.6; Path of a Point on a Link with General Plane Motion --; 2.7; Creating a Movie --; 3; Velocity and Acceleration Analysis --; 3.1; Introduction --; 3.2; Velocity Field for a Rigid Body --; 3.3; Acceleration Field for a Rigid Body --; 3.4; Motion of a Point that Moves Relative to a Rigid Body --; 3.5; Slider-Crank (R-RRT) Mechanism --; 3.6; Four-Bar (R-RRT) Mechanism --; 3.7; Inverted Slider-Crank Mechanism --; 3.8; R-RTR-RTR Mechanism --; 3.9; Derivative Method --; 3.10; Independent Contour Equations --; 4; Dynamic Force Analysis --; 4.1; Equation of Motion for General Planar Motion --; 4.2; D'Alembert's Principle --; 4.3; Free-Body Diagrams --; 4.4; Force Analysis Using Dyads --; 4.4.1; RRR Dyad --; 4.4.2; RRT Dyad --; 4.4.3; RTR Dyad --; 4.5; Force Analysis Using Contour Method --; 4.6; Slider-Crank (R-RRT) Mechanism --; 4.6.1; Inertia Forces and Moments --; 4.6.2; Joint Forces and Drive Moment --; 4.7; R-RTR-RTR Mechanism --; 4.7.1; Inertia Forces and Moments --; 4.7.2; Joint Forces and Drive Moment --; 5; Direct Dynamics: Newton-Euler Equations of Motion --; 5.1; Compound Pendulum --; 5.2; Double Pendulum --; 5.3; One-Link Planar Robot Arm --; 5.4; Two-Link Planar Robot Arm --; 6.1; Generalized Coordinates and Constraints --; 6.2; Laws of Motion --; 6.3; Lagrange's Equations for Two-Link Robot Arm --; 6.4; Rotation Transformation --; 6.5; RRT Robot Arm --; 6.5.1; Direct Dynamics --; 6.5.2; Inverse Dynamics --; 6.5.3; Kane's Dynamical Equations --; 6.6; RRTR Robot Arm --; 7; Problems --; 7.1; Problem Set: Mechanisms --; 7.2; Problem Set: Robots --; A Programs of --; 2; Position Analysis --; A.1 Slider-Crank (R-RRT) Mechanism --; A.2 Four-Bar (R-RRR) Mechanism --; A.3 R-RTR-RTR Mechanism --; A.4 R-RTR-RTR Mechanism: Complete Rotation --; A.5 R-RTR-RTR Mechanism: Complete Rotation Using Euclidian Distance Function --; A.6 Path of a Point on a Link with General Plane Motion: R-RRT Mechanism --; A.7 Path of a Point on a Link with General Plane Motion: R-RRR Mechanism --; B Programs of --; 3; Velocity and Acceleration Analysis --; B.1 Slider-Crank (R-RRT) Mechanism --; B.2 Four-Bar (R-RRR) Mechanism --; B.3 Inverted Slider-Crank Mechanism --; B.4 R-RTR-RTR Mechanism --; B.5 R-RTR-RTR Mechanism: Derivative Method --; B.6 Inverted Slider-Crank Mechanism: Derivative Method --; B.7 R-RTR Mechanism: Derivative Method --; B.8 R-RRR Mechanism: Derivative Method --; B.9 R-RTR-RTR Mechanism: Contour Method --; C Programs of --; 4; Dynamic Force Analysis --; C.1 Slider-Crank (R-RRT) Mechanism: Newton-Euler Method --; C.2 Slider-Crank (R-RRT) Mechanism: D'Alembert's Principle --; C.3 Slider-Crank (R-RRT) Mechanism: Dyad Method --; C.4 Slider-Crank (R-RRT) Mechanism: Contour Method --; C.5 R-RTR-RTR Mechanism: Newton-Euler Method --; C.6 R-RTR-RTR Mechanism: Dyad Method --; C.7 R-RTR-RTR Mechanism: Contour Method --; D Programs of --; 5; Direct Dynamics --; D.1 Compound Pendulum --; D.2 Compound Pendulum Using the Function R (t,x) --; D.3 Double Pendulum --; D.4 Double Pendulum Using the File RR.m --; D.5 One-Link Planar Robot Arm --; D.6 One-Link Planar Robot Arm Using the m-File Function Rrobot.m --; D.7 Two-Link Planar Robot Arm Using the m-File Function RRrobot.m --; E Programs of --; 6; Analytical Dynamics --; E.1 Lagrange's Equations for Two-Link Robot Arm --; E.2 Two-Link Robot Arm: Inverse Dynamics --; E.3 RRT Robot Arm --; E.4 RRT Robot Arm: Inverse Dynamics --; E.5 RRT Robot Arm: Kane's Dynamical Equations --; E.6 RRTR Robot Arm
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