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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 work piece, 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. This book will be useful to mathematics, engineering and computer science departments teaching courses on mathematical modeling of robotics and other articulated mechanical systems. This new edition includes research results of the past decade on the synthesis of multi loop planar and spherical linkages, and the use of homotopy methods and Clifford algebras in the synthesis of spatial serial chains. One new chapter on the synthesis of spatial serial chains introduces numerical homotopy and the linear product decomposition of polynomial systems. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are use throughout to demonstrate the theory.
This volume, Mechanical Design: Theory and Methodology, has been put together over the past four years. Most of the work is ongoing as can be ascertained easily from the text. One can argue that this is so for any text or monograph. Any such book is only a snapshot in time, giving information about the state of knowledge of the authors when the book was compiled. The chapters have been updated and are representative of the state of the art in the field of design theory and methodology. It is barely over a decade that design as an area of study was revived, mostly at the behest of industry, government, and academic leaders. Profes sor Nam Suh, then the head of the Engineering Directorate at the National Science Foundation, provided much of the impetus for the needed effort. The results of early work of researchers, many of whom have authored chapters in this book, were fundamental in conceiving the ideas behind Design for X or DFX and concurrent engineering issues. The artificial intelli gence community had a strong influence in developing the required com puter tools mainly because the field had a history of interdisciplinary work. Psychologists, computer scientists, and engineers worked together to under stand what support tools will improve the design process. While this influ ence continues today, there is an increased awareness that a much broader community needs to be involved.
Planar linkages play a very important role in mechanical engineering. As the simplest closed chain mechanisms, planar four-bar linkages are widely used in mechanical engineering, civil engineering and aerospace engineering. Design of Special Planar Linkages proposes a uniform design theory for planar four-bar linkages. The merit of the method proposed in this book is that it allows engineers to directly obtain accurate results when there are such solutions for the specified n precise positions; otherwise, the best approximate solutions will be found. This book discusses the kinematics and reachable workspace and singularity of a planar 3-RRR linkage, which can be used to analyze other planar linkages. Then a foldable stair that retains the walking conversions of human beings and all the merits of a concrete stair in civil engineering is described along with a lifting guidance mechanism that has the advantages of high strength, high rigidity, lightweight overconstraint trusses and motion flexibility. The method proposed in this book can be applied to other planar linkages. This book offers a valuable resource for scientists, researchers, engineers, graduate students in mechanical engineering especially those interested in engineering design, robotics and automation. Jingshan Zhao, Associate professor; Zhijing Feng and Fulei Chu, professor; Ning Ma, Dr., all work at the Department of Mechanical Engineering, Tsinghua University.
A planar or two-dimensional (2D) mechanism is the combination of two or more machine elements that are designed to convey a force or motion across parallel planes. For any mechanical engineer, young or old, an understanding of planar mechanism design is fundamental. Mechanical components and complex machines, such as engines or robots, are often designed and conceptualised in 2D before being extended into 3D. Designed to encourage a clear understanding of the nature and design of planar mechanisms, this book favours a frank and straightforward approach to teaching the basics of planar mechanism design and the theory of machines with fully worked examples throughout. Key Features: Provides simple instruction in the design and analysis of planar mechanisms, enabling the student to easily navigate the text and find the desired material Covers topics of fundamental importance to mechanical engineering, from planar mechanism kinematics, 2D linkage analyses and 2D linkage design to the fundamentals of spur gears and cam design Shows numerous example solutions using EES (Engineering Equation Solver) and MATLAB software, with appendices dedicated to explaining the use of both computer tools Follows end-of-chapter problems with clearly detailed solutions
Artificial Intelligence in Engineering Design, Volume II: Models of Innovative Design, Reasoning About Physical Systems, and Reasoning About Geometry focuses on the processes, programs, techniques, and technologies involved in the employment of artificial intelligence in engineering design. The selection first takes a look at the automated reuse of design plans in BOGART and ARGO, an analogical reasoning system for solving design problems. Topics include analogy mechanisms in ARGO, analogical reasoning and learning, ARGO development environment, using VEXED to construct a design plan, and how BOGART reuses a design plan. The text then ponders on retrieval strategies in a case-based design system and case-based design, including the functions-to-structure design task in the domain of physical devices, design retrieval, proposition, and modification, and the multi-layered case representation. The publication examines mechanism comparison and classification for design; a case-based approach to the design of mechanical linkages; and studies of heuristic knowledge-based approaches for automated configuration generation and innovation. Topics include applications of stress field estimation to geometric optimization, simplification and abstraction operators, mechanism comparison and classification, linkage synthesis, analytic synthesis techniques, and system architecture. The selection is a valuable reference for readers interested in the use of artificial intelligence in engineering design.
Kinematics, Dynamics, and Design of Machinery, Third Edition, presents a fresh approach to kinematic design and analysis and is an ideal textbook for senior undergraduates and graduates in mechanical, automotive and production engineering Presents the traditional approach to the design and analysis of kinematic problems and shows how GCP can be used to solve the same problems more simply Provides a new and simpler approach to cam design Includes an increased number of exercise problems Accompanied by a website hosting a solutions manual, teaching slides and MATLAB® programs
The ability to create intelligent machines has intrigued humans since ancient times, and today with the advent of the computer and 50 years of research into AI programming techniques, the dream of smart machines is becoming a reality. The concept of human-computer interfaces has been undergoing changes over the years. In carrying out the most important tasks is the lack of formalized application methods, mathematical models and advanced computer support. The evolution of biological systems to adapt to their environment has fascinated and challenged scientists to increase their level of understanding of the functional characteristics of such systems. This book has 19 chapters and explain that the expert systems are products of the artificial intelligence, branch of computer science that seeks to develop intelligent programs for human, materials and automation.
Despite the large volume of publications devoted to neural networks, fuzzy logic, and evolutionary programming, few address the applications of computational intelligence in design and manufacturing. Computational Intelligence in Manufacturing Handbook fills this void as it covers the most recent advances in this area and state-of-the-art applicati
Computational Intelligence is tolerant of imprecise information, partial truth and uncertainty. This book presents a selected collection of contributions on a focused treatment of important elements of CI, centred on its key element: learning. This book presents novel applications and real world applications working in Manufacturing and Engineering, and it sets a basis for understanding Domotic and Production Methods of the XXI Century.