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Mechanism Design
Enumeration of Kinematic Structures According to Function



ISBN 9780849309014
Published September 19, 2000 by CRC Press
328 Pages 193 B/W Illustrations

 
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Book Description

Traditionally, mechanisms are created by designer's intuition, ingenuity, and experience. However, such an ad hoc approach cannot ensure the identification of all possible design alternatives, nor does it necessarily lead to optimum design. Mechanism Design: Enumeration of Kinematic Structures According to Function introduces a methodology for systematic creation and classification of mechanisms.

With a partly analytical and partly algorithmic approach, the author uses graph theory, combinatorial analysis, and computer algorithms to create kinematic structures of the same nature in a systematic and unbiased manner. He sketches mechanism structures, evaluating them with respect to the remaining functional requirements, and provides numerous atlases of mechanisms that can be used as a source of ideas for mechanism and machine design.

He bases the book on the idea that some of the functional requirements of a desired mechanism can be transformed into structural characteristics that can be used for the enumeration of mechanisms. The most difficult problem most mechanical designers face at the conceptual design phase is the creation of design alternatives. Mechanism Design: Enumeration of Kinematic Structures According to Function presents you with a methodology that is not available in any other resource.

Table of Contents

INTRODUCTION
A Systematic Design Methodology
Links and Joints
Kinematic Chains, Mechanisms, and Machines
Kinematics of Mechanisms
Planar, Spherical, and Spatial Mechanisms
Kinematic Inversions

BASIC CONCEPT OF GRAPH THEORY
Definitions
Tree
Planar Graph
Spanning Trees and Fundamental Circuits
Euler's Equation
Topological Characteristics of Planar Graphs
Matrix Representation of Graphs
Contracted Graphs
Dual Graphs

STRUCTURAL REPRESENTATIONS OF MECHANISMS
Functional Schematic Representation
Structural Representation
Graph Representation
Matrix Representation

STRUCTURAL ANALYSIS OF MECHANISMS
Correspondence between Mechanisms and Graphs
Degrees of Freedom
Loop Mobility Criterion
Lower and Upper Bounds on the Number of Joints on a Link
Link Assortments
Partition of Binary Link Chains
Structural Isomorphism
Permutation Group and Group of Automorphisms
Identification of Structural Isomorphism
Partially Locked Kinematic Chains

ENUMERATION OF GRAPHS OF KINEMATIC CHAINS
Enumeration of Contracted Graphs
Enumeration of Conventional Graphs
Atlas of Graphs of Kinematic Chains

CLASSIFICATION OF MECHANISMS
Planar Mechanisms
Spherical Mechanisms
Spatial Mechanisms

EPICYCLIC GEAR TRAINS
Structural Characteristics
Buchsbaum-Freudenstein Method
Genetic Graph Approach
Parent Bar Linkage Method
Mechanism Pseudo Isomorphisms
Atlas of Epicyclic Gear Trains
Kinematics of Epicyclic Gear Trains

AUTOMOTIVE MECHANISMS
Variable-Stroke Engine Mechanisms
Constant-Velocity Shaft Couplings
Automatic Transmission Mechanisms
Canonical Graph Representation of EGMs
Atlas of Epicyclic Gear Transmission Mechanisms

ROBOTIC MECHANISMS
Parallel Manipulators
Robotic Wrist Mechanisms
APPENDICES:
A. Solving m Equations in n unknowns
B. Atlas of Contracted Graphs
C. Atlas of Graphs of Kinematic Chains
D. Atlas of Planar Bar Linkages
E. Atlas of Spatial One-dof Kinematic Chains
F. Atlas of Epicyclic Gear Trains
G. Atlas of Epicyclic Gear Transmission Mechanisms

NOTE: Introduction at the beginning of Chapters 1,3-9; Summary at the end of Chapters 1-6,8-9

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Reviews

"…The topics covered in the book have wide applications in modern engineering technology."
-Frank Kreith
Editor of the CRC Mechanical Engineering Series

topics covered in the book have wide applications in modern engineering technology."
-Frank Kreith
Editor of the CRC Mechanical Engineering Series