000			04066cam a22004458i 4500
001			21336574
003			OSt
005			20230118193016.0
008			191203s2019 nju b 001 0 eng
010			_a 2019024967
020			_a9781119195733 _q(hardback)
020			_z9781119195757 _q(adobe pdf)
020			_z9781119195764 _q(epub)
040			_aLBSOR/DLC _beng _erda _cDLC
042			_apcc
050	0	0	_aTJ175 _b.O94 2019
082	0	0	_a621.815 OZG _223
092			_20
100	1		_aÖzgören, M. Kemal, _d1948- _eauthor.
245	1	0	_aKinematics of general spatial mechanical systems / _cM. Kemal Ozgoren.
263			_a1911
264		1	_aHoboken, NJ : _bWiley, _c[2019]
300			_a432 pages _c26 cm
336			_atext _btxt _2rdacontent
337			_aunmediated _bn _2rdamedia
338			_avolume _bnc _2rdacarrier
504			_aIncludes bibliographical references and index.
505	0		_aVectors and their matrix representations in selected reference frames -- Rotation of vectors and rotation matrices -- Matrix representations of vectors in different reference frames and the component transformation matrices -- Vector differentiation accompanied by velocity and acceleration expressions -- Kinematics of rigid body systems -- Joints and their kinematic characteristics -- Kinematic features of serial manipulators -- Position and motion analyses of generic serial manipulators -- Kinematic analyses of typical serial manipulators -- Position and velocity analyses of parallel manipulators.
520			_a"This book is concerned primarily with the kinematic description and analysis of the spatial mechanical systems such as serial manipulators, parallel manipulators, and spatial mechanisms. However, a planar mechanical system is also considered whenever it helps to demonstrate and discuss a kinematic feature more neatly and clearly. Emphasis is placed on the analytical and semi-analytical methods in the treatment of the topics it covers, whilst purely numerical methods are kept beyond the scope of the book. Consideration is placed on four main elements: The necessary mathematics of spatial kinematics comprising the relevant theorems, formulas, and methods; the kinematic description of the links and joints, which are the basic constituents of mechanical systems; writing the kinematic chain equations for the systems to be analyzed; and solving the kinematic chain equations for the unspecified variables together with the multiplicity and singularity analyses. The book will have a wide coverage of topics ranging from rather elementary topics such as six-joint serial manipulators to more advanced topics such as non-holonomic spatial cam mechanisms. It presents an effective symbolic manipulation method that can be applied easily and straightforwardly. Thus, it will be possible to obtain neat and transparent (explicit in parameters) expressions to describe the systems kinematically. Such expressions will then conveniently lead to analytical or semi-analytical solutions. Owing to the analytical and semi-analytical solutions, the multiple solutions and the workspace restrictions can easily be detected and discussed. Moreover, the singularities can also be easily identified and their consequences can be discussed in detail. The coverage and the methodology of the book will attract the attention of those involved with robotics and spatial mechanisms, or interested simply in kinematics. It can serve as a supplementary text for graduate students, or as a reference book for researchers and professionals"-- _cProvided by publisher.
650		0	_aMachinery, Kinematics of.
650		0	_aManipulators (Mechanism)
650		0	_aVector analysis.
650		0	_aMatrices.
776	0	8	_iOnline version: _aOzgoren, M. Kemal, 1948- _tKinematics of general spatial mechanical systems. _dHoboken, NJ : Wiley, [2019] _z9781119195757 _w(DLC) 2019024968
843			_aPhotocopy
887			_2CamTech Library
906			_a7 _bcbc _corignew _d1 _eecip _f20 _gy-gencatlg
942			_2ddc _cBK _n0
999			_c796 _d796