Kinematics and Dynamics of Mechanical Systems: Implementation in MATLAB® and SimMechanics®

Effectively Apply the Systems Needed for Kinematic, Static, and Dynamic Analyses and Design A survey of machine dynamics using MATLAB and SimMechanics, Kinematics and Dynamics of Mechanical Systems: Implementation in MATLAB® and SimMechanics® combines the fundamentals of mechanism kinematics, synthesis, statics and dynamics with real-world applications and offers step-by-step instruction on the kinematic, static, and dynamic analyses and synthesis of equation systems. Written for students with no working knowledge of MATLAB and SimMechanics, this book provides a basic understanding of static and dynamic mechanism analysis, moves beyond conventional kinematic concepts—factoring in adaptive programming, 2D and 3D visualization, and simulation, and equips readers with the ability to readily analyze and design mechanical systems. Bridging the gap between theory and application, this book: Introduces the fundamental, kinematic, and mechanical concepts Presents the displacement, velocity and acceleration analysis of the plan and function generation (concepts in a branch of kinematics called synthesis) of planar four-bar mechanisms Explores the static and dynamic force analysis of the planar four-bar, slider-crank, geared five-bar, Watt II and Stephenson III mechanisms Discusses gear and radial cam systems Describes the displacement velocity and acceleration analysis of the spatial RRSS, RSSR and 4R spherical mechanisms Includes the forward and inverse kinematic analysis of industrial robots including the Cartesian, cylindrical, spherical, and articulated and SCARA robots Considers the programmable quantitative methods for kinematic analysis and synthesis Kinematics and Dynamics of Mechanical Systems: Implementation in MATLAB® and SimMechanics® provides an introduction to kinematics, presents the foundational concepts in mechanism design and analysis, and gives readers the ability to effectively implement existing mechanical system designs for a variety of applications.

Table of Contents:
Introduction to Kinematics Kinematics Kinematic Chains and Mechanisms Mobility, Planar and Spatial Mechanisms Types of Mechanism Motion Kinematic Synthesis Units and Conversions Software Resources Summary References Additional Reading Mathematical Concepts in Kinematics Introduction Complex Numbers and Operations Vector and Point Representation Linear Simultaneous Equations, Matrices, and Matrix Operations Intermediate and Total Spatial Motion General Transformation Matrix Summary References Additional Reading Fundamental Concepts in Kinematics Types of Planar and Spatial Mechanisms Links, Joints, and Mechanism Mobility Number Synthesis Grashof’s Criteria and Transmission Angle Circuit Defect Mechanism Inversion Passive Degree of Freedom and Paradoxes Summary References Kinematic Analysis of Planar Mechanisms Introduction Numerical Solution Method for Two Simultaneous Equations Link Velocity and Acceleration Components in Planar Space Four-Bar Mechanism Analysis Slider-Crank Mechanism Analysis Geared Five-Bar Mechanism Analysis Watt II Mechanism Analysis Stephenson III Mechanism Analysis Time and Driver Angular Velocity Mechanism Configurations Constructing Cognates Planar Mechanism Kinematic Analysis and Modeling in SimMechanics® Summary References Additional Reading Dimensional Synthesis Introduction Branch and Order Defects Planar Four-Bar Motion Generation: Three Precision Positions Order- and Branch-Defect Elimination Path Generation versus Motion Generation Stephenson III Motion Generation: Three Precision Positions Planar Four-Bar Function Generation: Three Precision Points Planar Four-Bar Function Generation: FSPs and MSPs Mechanism Dimensions: From Dimensional Synthesis to Kinematic Summary References Additional Reading Static Force Analysis of Planar Mechanisms Introduction Static Loading in Planar Space Four-Bar Mechanism Analysis Slider-Crank Mechanism Analysis Geared Five-Bar Mechanism Analysis Watt II Mechanism Analysis Stephenson III Mechanism Analysis Planar Mechanism Static Force Analysis and Modeling in SimMechanics® Summary References Additional Reading Dynamic Force Analysis of Planar Mechanisms Introduction Dynamic Loading in Planar Space Four-Bar Mechanism Analysis Slider-Crank Mechanism Analysis Geared Five-Bar Mechanism Analysis Watt II Mechanism Analysis Stephenson III Mechanism Analysis Mass Moment of Inertia and Computer Aided Design Software Planar Mechanism Dynamic Force Analysis and Modeling in SimMechanics® References Additional Reading Design and Kinematic Analysis of Gears Introduction Gear Types Spur-Gear Nomenclature and Relationships of Mating Gears Helical-Gear Nomenclature Gear Kinematics Summary References Additional Reading Design and Kinematic Analysis of Disk Cams Introduction Follower Types Follower Motion Disk Cam Design and Pressure Angle Summary References Additional Reading Kinematic Analysis of Spatial Mechanisms Introduction RRSS Mechanism Analysis RSSR Mechanism Analysis Four-Revolute Spherical Mechanism Analysis Planar Four-Bar Kinematic Analysis Using RRSS and RSSR Kinematic Equations Spatial Mechanism Kinematic Analysis and Modeling in SimMechanics® Summary References Introduction to Robotic Manipulators Introduction Terminology and Nomenclature Robotic Manipulator Mobility and Types The General Transformation Matrix Forward Kinematics Inverse Kinematics Robotic Manipulator Kinematic Analysis and Modeling in SimMechanics® Summary References Additional Reading Appendices