Robotics Research Technical Report (Classic Reprint): A Framework for the Kinematic Analysis of Mechanical Devices: A Framework for the Kinematic Analysis of Mechanical Devices (Classic Reprint) - Softcover

Inhaltsangabe

Explore a practical framework for predicting how mechanisms move.

This book shows how to reason about motion with configuration spaces and how to build global views of a mechanism’s behavior from simple, local pieces. This work ties together theory and method to analyze kinematics. It explains how the configuration space of a mechanism relates to its possible motions, and how to compute that space by composing pairwise spaces from its parts. It covers fixed axis mechanisms in depth, including how their motions fall into a small set of simple types, and how to use region diagrams and state diagrams to envision motion and transitions. It also discusses movable axis mechanisms, highlighting new challenges and what remains possible with composition methods.

• How configuration spaces connect to the motions a mechanism can have
• How to build the mechanism’s global space by composing pairwise spaces
• How region diagrams and state diagrams help visualize motion and transitions
• The differences between fixed axis and movable axis mechanisms and their implications

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