Kinematics
Description
The book deals with kinematics of mechanisms. It focuses on a solid theoretical foundation and on mathematical methods applicable to the solution of problems of very diverse nature. Applications are demonstrated in a large number of fully worked-out problems.
In kinematics a wide variety of mathematical tools is applicable. In this book, wherever possible vector equations are formulated instead of lengthy scalar coordinate equations. The principle of transference is applied to problems of very diverse nature.
15 chapters of the book are devoted to spatial kinematics and three chapters to planar kinematics. In Chapt. 19 nonlinear dynamics equations of motion are formulated for general spatial mechanisms. Nearly one half of the book is dealing with position theory and the other half with motion.
The book is intended for use as reference book for researchers and as textbook in advanced courses on kinematics of mechanisms.
Reviews / Votes
"The present book is devoted to the kinematics of the single rigid body and of systems of inter-connected rigid body. . After reading this book, the reader will be convinced that the intended audience for it consists of graduate and Ph.D. students as well as scientists and engineers from academia and industry in the area of theoretical mechanics, theory of mechanisms, robotics and mechatronics." (Clementina Mladenova, zbMATH 1336.70001, 2016)
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Person
Professor Jens Wittenburg
was Professor for Mechanics at University of Karlsruhe. He was a visiting professor at the University Paris VI, at the Kliment-Ochridsky University Sofia and at the Jiaotong-University Xi'an. He is still active in research and has been invited to give lectures all over the world.
Content
1.Rotation about a fixed point. Reflection in a plane.- 2.Line geometry.- 3.Finite screw displacement.- 4.Degree of freedom of a mechanism.- 5.Spatial simple closed chains.- 6.Overconstrained mechanisms.- 7. Two-joint chains.- 8.Stewart platform.- 9.Angular velocity. Angular acceleration.- 10.Kinematic differential equations.- 11.Direct kinematics of tree-structured systems.- 12.Screw systems.- 13.Shaft couplings.- 14.Displacement in a plane.- 15.Plane motion.- 16.Theory of gearing.- 17.Planar four-bar mechanism.- 18.Spherical four-bar mechanism.- 19.Dynamics pf mechanisms.