2nd Edition
Mechanism Design Visual and Programmable Approaches using MATLAB® and Simscape Multibody™
1. INTRODUCTION TO KINEMATICS
Concept Overview
1.1 Kinematics
1.2 Kinematic Chains and Mechanisms
1.3 Mobility, Planar and Spatial Mechanisms
1.4 Types of Mechanism Motion
1.5 Kinematic Synthesis
1.6 Software Resources
1.7 Summary
References
Additional Reading
2. MATHEMATICAL CONCEPTS IN KINEMATICS
Concept Overview
2.1 Introduction
2.2 Complex Numbers and Operations
2.3 Vector and Point Representation
2.4 Linear Simultaneous Equations, Matrices and Matrix Operations
2.5 Intermediate and Total Spatial Motion
2.6 General Transformation Matrix
2.7 Nonlinear Equation System Optimization
2.8 Gradient Vector and Hessian Matrix
2.9 Summary
References
Additional Reading
Problems
3. FUNDAMENTAL CONCEPTS IN KINEMATICS
Concept Overview
3.1 Types of Planar and Spatial Mechanisms
3.2 Links, Joints and Mechanism Mobility
3.3 Number Synthesis
3.4 Grashof’s Criteria and Transmission Angle
3.5 Circuit Defect
3.6 Mechanism Inversion
3.7 Passive Degree of Freedom and Paradoxes
3.8 Summary
References
Problems
4. KINEMATIC ANALYSIS OF PLANAR MECHANISMS
Concept Overview
4.1 Introduction
4.2 Link Velocity and Acceleration Components in Planar Space
4.3 Four-Bar Mechanism Analysis
4.4 Geared Five-Bar Mechanism Analysis
4.5 Stephenson III Mechanism Analysis
4.6 Time and Driver Angular Velocity
4.7 Planar Mechanism Kinematic Analysis and Modeling in Simscape Multibody™
4.8 Summary
Problems
5. ANALYTICAL Planar Four-Bar, Geared Five-Bar AND STEPHENSON III Motion Generation
Concept Overview
5.1 Introduction
5.2 Branch and Order Defects
5.3 Four-Bar Motion Generation: Three, Four, and Five Precision Positions
5.4 Geared Five-Bar Motion Generation: Three Precision Positions
5.5 Stephenson III Motion Generation: Three, Four, and Five Precision Positions
5.6 From Motion Generation to Kinematic Displacement Analysis
5.7 Order and Branch Defect Elimination
5.8 Summary
References
Additional Reading
Problems
6. Planar Four-Bar, Geared Five-Bar AND STEPHENSON III PATH AND Motion Generation
Concept Overview
6.1 Introduction
6.2 Coupler Curves and Dwell Motion
6.3 Planar Four-Bar Path and Motion Generation
6.4 Geared Five-Bar Path and Motion Generation
6.5 Algebraic Planar Four-Bar Displacement Model
6.6 Four-Bar Motion Generation: Unconstrained Optimization Using Alternate Dyad Model
6.7 Four-Bar Path and Motion Generation: Constrained Optimization Using Algebraic Displacement Model
6.8 Stephenson III Motion Generation
6.9 From Dimensional Synthesis to Kinematic Displacement Analysis
6.10 Summary
References
Problems
7. Planar Four-Bar FUNCTION Generation
Concept Overview
7.1 Introduction
7.2 Function Generation: Three, Four and Five Precision Points
7.3 Function Generation for Indefinite Precision Points
7.4 Velocity and Acceleration Constraints for Function Generation
7.5 Function Generation with Finite and Multiply Separated Positions
7.6 Function Generation for Indefinite Finite and Multiply Separated Positions
7.7 From Function Generation to Kinematic Analysis
7.8 Summary
References
Additional Reading
Problems
8. SPATIAL MECHANISM KINEMATICS AND DIMENSIONAL SYNTHESIS
Concept Overview
8.1 Introduction
8.2 RRSS and 4R Spherical Mechanism Kinematic Analysis
8.3 RSSR and 4R Spherical Mechanism Kinematic Analysis
8.4 RRSS and 4R Spherical Motion and Path Generation
8.5 RSSR and 4R Spherical Function Generation
8.6 Spatial Mechanism Kinematic Analysis and Modeling in Simscape Multibody™
8.7 Summary
References
Additional Reading
Problems
9. ADJUSTABLE PLANAR AND SPHERICAL FOUR-BAR MECHANISM DIMENSIONAL SYNTHESIS
Concept Overview
9.1 Introduction
9.2 Adjustable Planar Four-Bar Motion Generation
9.3 Adjustable Planar Four-Bar Motion and Path Generation: Constrained Optimization
9.4 Adjustable Planar Four-Bar Function Generation
9.5 Adjustable 4R Spherical Motion Generation
9.6 Adjustable 4R Spherical Motion and Path Generation: Constrained Optimization
9.7 From Adjustable Mechanism Dimensional Synthesis to Kinematic Analysis
9.8 Summary
References
Problems
10. INTRODUCTION TO ROBOTIC MANIPULATORS
Concept Overview
10.1 Introduction
10.2 Terminology and Nomenclature
10.3 Robotic Manipulator Mobility and Types
10.4 The General Transformation Matrix
10.5 Forward Kinematics
10.6 Inverse Kinematics
10.7 Robotic Manipulator Kinematic Analysis and Modeling in Simscape Multibody™
10.8 Summary
References
Problems
Appendix A: User Information and Instructions for MATLAB®
A.1 Required MATLAB Toolkits
A.2 Description of MATLAB Operators and Functions
A.3 Preparing and Running Files in MATLAB and Operations in Simscape Multibody
A.4 Description of Simscape Multibody Functions
A.5 Rerunning MATLAB and Simscape Multibody™ Files with Existing *.csv Files
A.6 Minimum Precision Requirement for Appendix File User Input
Appendix B: User Instructions for Chapter 4 MATLAB® KINEMATIC ANALYSIS Files
B.1 Planar Four-Bar Mechanism
B.2 Geared Five-Bar Mechanism (Two Gears)
B.3 Geared Five-Bar Mechanism (Three Gears)
B.4 Stephenson III Mechanism
Appendix C: User Instructions for Chapter 4 MATLAB® and Simscape Multibody™ KINEMATIC ANALYSIS Files
C.1 Planar Four-Bar Mechanism
C.2 Geared Five-Bar Mechanism (Two Gears)
C.3 Geared Five-Bar Mechanism (Three Gears)
C.4 Stephenson III Mechanism
Appendix D: aLGORITHM FOR ANALYTICAL FOUR-POSITION SYNTHESIS AND MATLAB® file user instructions
D.1 Analytical Planar Four-Bar Four-Position Synthesis Algorithm
D.2 MATLAB File User Instructions for Four-Position Synthesis
Appendix e: aLGORITHM FOR ANALYTICAL FIVE-POSITION SYNTHESIS AND MATLAB® file user instructions
E.1 Analytical Planar Four-Bar Five-Position Synthesis Algorithm
E.2 MATLAB File User Instructions for Five-Position Synthesis
Appendix F: User Instructions for CHAPTER 6 MATLAB® DIMENSIONAL SYNTHESIS FILES
F.1 Planar Four-Bar Motion Generation, N Precision Positions with Order Constraints
F.2 Planar Four-Bar Path Generation, N Precision Points with Order Constraints
F.3 Geared Five-Bar Motion Generation, N Precision Positions with Order Constraints
F.4 Geared Five-Bar Path Generation, N Precision Points with Order Constraints
F.5 Planar Four-Bar Motion Generation, N Precision Positions
F.6 Planar Four-Bar Motion Generation, N Precision Positions with Order and Branch Constraints
F.7 Planar Four-Bar Path Generation, N Precision Points with Order and Branch Constraints
Appendix G: User Instructions for CHAPTER 7 MATLAB® DIMENSIONAL SYNTHESIS FILES
G.1 Planar Four-Bar Function Generation, N Precision Points
G.2 Planar Four-Bar Function Generation, N FSPs and N Velocity MSPs
Appendix H: User Instructions for Chapter 8 MATLAB® KINEMATIC ANALYSIS Files
H.1 RRSS Mechanism
H.2 RSSR Mechanism
Appendix I: User Instructions for Chapter 8 MATLAB® and Simscape Multibody™ KINEMATIC ANALYSIS Files
I.1 RRSS Mechanism
I.2 RSSR Mechanism
Appendix J: User Instructions for CHAPTER 8 MATLAB® DIMENSIONAL SYNTHESIS FILES
J.1 R-R Dyad, Motion Generation, N Precision Positions
J.2 S-S Dyad, Motion Generation, N Precision Positions
J.3 Spherical R-R Dyad, Motion Generation, N Precision Positions
J.4 RRSS Motion Generation, N Precision Positions with Order and Branch Constraints
J.5 RRSS Path Generation, N Precision Points with Order and Branch Constraints
J.6 4R Spherical Motion Generation, N Precision Positions with Order and Branch Constraints
J.7 4R Spherical Path Generation, N Precision Points with Order and Branch Constraints
J.8 RSSR Function Generation, N Precision Points
J.9 RSSR Function Generation (for RRSS Steering Linkage), N Precision Points
J.10 4R Spherical Function Generation, N Precision Points
Appendix K: User Instructions for CHAPTER 9 MATLAB® DIMENSIONAL SYNTHESIS FILES
K.1 Fixed-Length, Moving Pivot-Adjustable, Planar Four-Bar Motion Generation, M and N Precision Positions
K.2 Fixed-Length, Fixed Pivot-Adjustable, Planar Four-Bar Motion Generation, M and N Precision Positions
K.3 Adjustable-Length, Moving Pivot-Adjustable, Planar Four-Bar Motion Generation, M and N Precision Positions
K.4 Adjustable-Length, Fixed Pivot-Adjustable, Planar Four-Bar Motion Generation, M and N Precision Positions
K.5 Fixed-Length, Moving Pivot-Adjustable, Planar Four-Bar Motion Generation, M and N Precision Positions with Order and Branch Constraints
K.6 Fixed Length, Moving Pivot-Adjustable, Planar Four-Bar Path Generation, M and N Precision Points with Order and Branch Constraints
K.7 Moving Pivot-Adjustable, Planar Four-Bar Function Generation, M and N Precision Points
K.8 Fixed Length, Moving Pivot-Adjustable, 4R Spherical Motion Generation, M and N Precision Positions
K.9 Fixed Length, Fixed Pivot-Adjustable, 4R Spherical Motion Generation, M and N Precision Positions
K.10 Adjustable Length, Moving Pivot-Adjustable, 4R Spherical Motion Generation, M and N Precision Positions
K.11 Adjustable Length, Fixed Pivot-Adjustable, 4R Spherical Motion Generation, M and N Precision Positions
K.12 Fixed Length, Moving Pivot-Adjustable, 4R Spherical Motion Generation, M and N Precision Positions with Order and Branch Constraints
K.13 Fixed Length, Moving Pivot-Adjustable, 4R Spherical Path Generation, M and N Precision Points with Order and Branch Constraints
Appendix L: User Instructions for Chapter 10 MATLAB® KINEMATIC ANALYSIS Files
L.1 R-P-P Robotic Manipulator Forward Kinematics
L.2 R-R-P Robotic Manipulator Forward Kinematics
L.3 R-R-R Robotic Manipulator Forward Kinematics
L.4 R-R-C Robotic Manipulator Forward Kinematics
L.5 R-P-P Robotic Manipulator Inverse Kinematics
L.6 R-R-P Robotic Manipulator Inverse Kinematics
L.7 R-R-R Robotic Manipulator Inverse Kinematics
L.8 R-R-C Robotic Manipulator Inverse Kinematics
Appendix M: User Instructions for Chapter 10 MATLAB® and Simscape Multibody™ KINEMATIC ANALYSIS Files
M.1 R-P-P Robotic Manipulator Forward Kinematics
M.2 R-R-P Robotic Manipulator Forward Kinematics
M.3 R-R-R Robotic Manipulator Forward Kinematics
M.4 R-R-C Robotic Manipulator Forward Kinematics
Biography
Kevin Russell, Ph.D., P.E., is a member of the teaching faculty in the Department of Mechanical and Industrial Engineering at New Jersey Institute of Technology (NJIT). At NJIT, Dr. Russell teaches courses in computer‑aided design, computer‑aided simulation, kinematics, machine design, and mechanical design. Formerly, Dr. Russell was a Senior Mechanical Engineer at the U.S. Army Research, Development and Engineering Center (ARDEC) at Picatinny, New Jersey. His responsibilities at ARDEC included the utilization of computer‑aided design and modeling and simulation tools for small‑ and medium‑caliber weapon system improvement, concept development, and failure investigations. A Fellow of the American Society of Mechanical Engineers (ASME) and a registered Professional Engineer in New Jersey, Dr. Russell holds several patents for his design contributions relating to small‑ and medium‑caliber weapon systems, linkage‑based inspection systems, and human prosthetics. He has published extensively among mechanical engineering journals in areas such as kinematic synthesis, theoretical kinematics, and machine design.
Qiong "John" Shen, Ph.D., is the founder of Softalink LLC, New Jersey, a consulting company that applies cloud‑computing and big data technologies to help automate and optimize business processes, and transform traditional marketing and strategic planning into a data‑driven manner. Besides business activities, Dr. Shen is also active, as an adjunct professor at New Jersey Institute of Technology (NJIT), in preparing college students for ever‑growing challenges in engineering and management. Dr. Shen received a Ph.D. degree from a joint program between Mechanical Engineering and Electrical Engineering Departments at NJIT. He has made substantial contributions to research in Robotics and Mechanism Synthesis by applying technologies from distributed parallel computing, machine learning, visualization, and simulation.
Raj S. Sodhi, Ph.D., P.E. is a professor in the Department of Mechanical and Industrial Engineering at NJIT. He has over 30 years of experience in research and education related to mechanical design, mechanisms synthesis, and manufacturing engineering. Dr. Sodhi is the author or co‑author of over 100 refereed papers in scientific journals and conference proceedings. He was awarded the Society of Manufacturing Engineering’s University Lead Award in recognition of leadership and excellence in the application and development of computer integrated manufacturing. He also received the N. Watrous Procter & Gamble Award from the Society of Applied Mechanisms and Robotics for significant contributions to the science of mechanisms and robotics and the Ralph R. Teetor New Engineering Educator Award from the Society of Automotive Engineers. Dr. Sodhi is a registered Professional Engineer in Texas.
