The Configuration Space Method for Kinematic Design of Mechanisms (Hardcover)

Elisha Sacks, Leo Joskowicz

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商品描述

This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry.

After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files.

The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics.

商品描述(中文翻譯)

這本書介紹了一種用於計算機輔助設計具有變動部件接觸的機構的配置空間方法。配置空間是部件運動和部件交互的完整且緊湊的幾何表示,支持機構設計的核心任務,包括分析、合成和公差控制。這是對具有變動接觸的高階配對運動學的首個通用算法處理。它將幫助設計師檢測和修正設計缺陷和意外的運動行為,正如書中從工業中選取的四個案例研究所展示的。

在介紹配置空間框架和機構運動學算法之後,作者描述了基於配置空間的運動學分析、公差控制和合成算法。接著是案例研究,展示了配置空間方法在汽車、微機械和光學機構的分析和設計中的應用。附錄提供了一個高階配對機構目錄,以及HIPAIR的描述,HIPAIR是一個開源的C++機械設計系統,實現了書中描述的一些配置空間方法,包括配置空間可視化和運動學模擬。HIPAIR附帶有一個交互式圖形用戶界面和許多樣本機構輸入文件。

《機構運動學設計的配置空間方法》將成為機械工程、計算機科學和機器人技術領域的學生、研究人員和工程師的寶貴資源。