This appendix provides an atlas of epicyclic gear trains classified according to the number of degrees of freedom, the number of independent loops, and the vertex degree listings. Both labeled graphs and typical functional schematic diagrams are sketched.

This appendix provides an atlas of spatial one-dof, single-loop kinematic chains having four to seven links.

This appendix provides an atlas of planar linkages classified according to the number of degrees of freedom, the number of independent loops, the vertex degree listings, and the corresponding contract graphs.

This appendix provides an atlas of graphs of kinematic chains having up to three independent loops and eight links.

Atlas of Contracted Graphs This appendix provides an atlas of contracted graphs having two to four independent loops.

In this appendix, we develop a procedure for solving a system of m linear equations in n variables subject to a constraint that all the variables are nonnegative integers. We first discuss a method for solving one equation in n unknowns. Then, we extend the method to solving a system of m equations in n unknowns.

During the last few decades, robot manipulators have been used primarily for repetitive operations and in hazardous environments. Typical applications include parts loading and unloading, radioactive material handling, space and undersea exploration, spot welding, spray painting, sealant application, and some simple component assembly.

In this chapter, we illustrate the usefulness of the systematic design methodology by enumerating a few automotive related mechanisms, including variable-stroke engine mechanisms, constant-velocity shaft couplings, and automatic transmission mechanisms. For each case, we first identify the functional requirements.

Gear trains are used to transmit motion and/or power from one rotating shaft to another. An enormous number of gear trains are used in machinery such as automobile transmissions, machine tool gear boxes, robot manipulators, and so on. Perhaps, the earliest known application of gear trains is the South Pointing Chariot invented by the Chinese around 2600 B.C. The chariot employed an ingenious differential gear train such that a figure mounted on top of the chariot always pointed to the south as the chariot was towed from one place to another. It is believed that the ancient Chinese used this...

Using graph representation, mechanism structures can be conveniently represented by graphs. The classification problem can be transformed into an enumeration of nonisomorphic graphs for a prescribed number of degrees of freedom, number of loops, number of vertices, and number of edges. The degrees of freedom of a mechanism are governed by Equation (4.3).

In Chapter 3 we have shown that the topological structures of kinematic chains can be represented by graphs. Several useful structural characteristics of graphs of kinematic chains were derived. In this chapter we show that graphs of kinematic chains can be enumerated systematically by using graph theory and combinatorial analysis. There are enormous graphs.

Structural analysis is the study of the nature of connection among the members of a mechanism and its mobility. It is concerned primarily with the fundamental relationships among the degrees of freedom, the number of links, the number of joints, and the type of joints used in a mechanism. It should be noted that structural analysis only deals with the general functional characteristics of a mechanism and not with the physical dimensions of the links. A thorough understanding of the structural characteristics is very helpful for enumeration of mechanisms. ...

The kinematic structure of a mechanism contains the essential information about which link is connected to which other link by what type of joint. The kinematic structure of a mechanism can be represented in several different ways. Some methods of representation are fairly straightforward, whereas others may be rather abstract and do not necessarily have a one-to-one correspondence. In this chapter various methods of representation of the kinematic structure of a mechanism or kinematic chain are described. For convenience, the following assumptions are made for all methods of representation. ...

In this chapter we introduce some fundamental concepts of graph theory that are essential for structure analysis and structure synthesis of mechanisms. Readers are encouraged to refer to Gibsons [1] and Harary [2] for more detailed descriptions of the theory.

Design is the creation of synthesized solutions in the form of products or systems that satisfy customer’s requirements [9, 25, 30, 34]. When we are given a design problem, we try to make the best use of our knowledge and the available information to understand the problem and generate as many feasible solutions as possible. Then, we evaluate these concepts against the customer’s requirements and select a most promising concept for design analysis and design optimization. We may think of the design as a mapping of the customer’s requirements into a physical embodiment. ...

FIGURE 28.30 End-effector for automatic refueling. (From Leondes, C.T., Mechatronic Systems Techniques and Applications, Vol. 2, Gordon & Breach, Amsterdam, 2000. With permission.)

Robot application in nonmanufacturing fields has been on the rise as key technologies have become more available. Sensors in combination with advanced perception algorithms allow robots to function in partly or even completely unstructured environments. Fast

In 1999 some 940,000 industrial robots were at work and major industrial countries reported growth rates in robot installation of more than 20% compared to the previous year (see Figure 28.1) The automotive, electric, and electronic industries have been the largest robot users; the predominant applications are welding, assembly, material handling, and dispensing. The flexibility and versatility of industrial robot technology have been strongly driven by the needs of these industries, which account for...

The Avionics Handbook, Cary R. Spitzer The Biomedical Engineering Handbook, 2nd Edition, Joseph D. Bronzino The Circuits and Filters Handbook, Wai-Kai Chen The Communications Handbook, Jerry D. Gibson The Control Handbook, William S. Levine The Digital Signal Processing Handbook, Vijay K. Madisetti & Douglas Williams The Electrical Engineering Handbook, 2nd Edition, Richard C. Dorf The Electric Power Engineering Handbook, Leo L. Grigsby The Electronics Handbook, Jerry C. Whitaker The Engineering Handbook, Richard C. Dorf The Handbook of Formulas and Tables for Signal Processing, Alexander D. Poularikas The Industrial Electronics Handbook, J. David Irwin The Measurement, Instrumentation, and Sensors Handbook, John...

Introduction • The ZMP Notion • The Difference between ZMP and the Center of Pressure (CoP) Modeling of Biped Dynamics and Gait Synthesis Single-Support Phase • Double-Support Phase • Biped Dynamics • Example