Kinestatic Mechanical Networks(1st Edition)
Authors:
Michael W Griffis ,Carl D Crane Iii
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Book details
ISBN: B0CCCHQ69C, 979-8988735304
Book publisher: Eigenpoint Company, The
Book Summary: Classical Screw Theory As Applied To Mechanisms And Robot Manipulators Provides A Firm Foundation For The Study. A First-of-its-kind Reference For Mechanical Networks Is Presented That Depicts How The Links And Bodies Of A Mechanism Are Interconnected By Their Kinematic Joints. Associated Directed Graphs Are Used To Delineate The Kinematic Loops And Static Nodes Of The Network. The Presentation Is In Wonderful Analogy With Kirchhoff’s Laws For Electrical Networks. The Freedom Twist Law (FTL) And The Constraint Wrench Law (CWL) Are Developed To Study Kinematics And Statics, Dually Under The Umbrella Of Kinestatics. This Allows The Study Of Any Mechanism To Determine Its True Mobility As Well As Its Actual Preloadability. Mobility Gives A Kinematic Sense Of How A Mechanism Might Move Using Its Freedom Twists. The New Notion Of Preloadability Gives The Dual, Static Sense Of How A Mechanism Can Be Internally Loaded By Its Constraint Wrenches. Finally, A New Signature-based Screw System Classification Is Provided That Covers All Possible 41 Types Of Screw Systems And Shows How To Decompose Any Given Screw System.
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