Mechanism design and configuration space
نویسندگان
چکیده
Design of mechanisms for transferring motion and energy from an input link to an output link has been studied extensively since the Industrial Revolution – in the steam engine, invented by James Watt, widely acknowledged to have started the Industrial revolution, Watt designed a straight-line mechanism to pull and push the piston-rod. Traditional mechanisms are most often made with lower pair joints having area contact between the two connecting rigid bodies, and the design of such mechanisms is a mature and welldeveloped field. Nowadays, a large number of mechanisms, such as a cam-follower mechanism, are in use with higher pair joints where there are line or point contact(s) between two parts. This monograph is a creditable attempt to develop new tools and techniques for the design of mechanisms with higher-pair joints and mechanisms which have intermittent contact between parts. The key concept is that of the configuration space of a pair of contacting rigid bodies undergoing relative motion – a concept which has been also used by researchers for robot motion planning and assembly.
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تاریخ انتشار 2013