Cart (Loading....) | Create Account
Close category search window
 

The Configuration Space Method for Kinematic Design of Mechanisms

Cover Image Copyright Year: 2010
Author(s): Sacks, E.; Joskowicz, L.
Publisher: MIT Press
Content Type : Books & eBooks
Topics: Robotics & Control Systems
  • Print

Abstract

This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry. After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files. The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics.

  •   Click to expandTable of Contents

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Front Matter

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): i - xv
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains sections titled: Half Title, Title, Copyright, Dedication, Contents, Preface, Acknowledgments, The Configuration Space Method for Kinematic Design of Mechanisms View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Introduction

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 1 - 10
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains sections titled: 1.1 Mechanisms and Kinematic function, 1.2 Kinematic Design, 1.3 Content and Organization of the Book, 1.4 Notes View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Mechanisms

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 11 - 32
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains sections titled: 2.1 Geometry of a Part, 2.2 Configurations and Motions of Parts, 2.3 Kinematic Pairs, Mechanisms, 2.4 Classification of Mechanisms, 2.5 Notes View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Contact of Features

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 33 - 55
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains sections titled: 3.1 Simple Planar Feature Contact, 3.2 Fixed-Axis Planar Pairs, 3.3 General Planar Pairs, 3.4 General Boundary Segments, 3.5 Spatial Pairs, 3.6 Notes View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Contact of Parts in Configuration Space

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 57 - 79
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains sections titled: 4.1 Partition of Configuration Space, 4.2 Fixed-Axis Pairs, 4.3 Partition Algorithm for Fixed-Axis Pairs, 4.4 General Planar Pairs, 4.5 Partition Algorithm for General Planar Pairs, 4.6 Mechanisms, 4.7 Partitions of Configuration Space and the Theory of Mechanisms, 4.8 Notes View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Analysis

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 81 - 98
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains sections titled: 5.1 Kinematic Analysis by Examination of Partition, 5.2 Kinematic Simulation, 5.3 Dynamical Simulation, 5.4 Notes View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Tolerancing

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 99 - 108
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains sections titled: 6.1 Specifications of Parametric Tolerance, 6.2 Tolerance Analysis, 6.3 Algorithms for Kinematic Pairs, 6.4 Algorithms for Mechanisms, 6.5 Notes View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Synthesis

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 109 - 120
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains sections titled: 7.1 Kinematic Design Cycle, 7.2 Parameter Synthesis, 7.3 Parameter Optimization, 7.4 Notes View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Case Studies

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 121 - 131
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains sections titled: 8.1 Optical Filter Mechanism, 8.2 Manual Transmission Gearshift, 8.3 Torsional Ratcheting Actuator, 8.4 Spatial Asynchronous Gear Pair View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Conclusion

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 133 - 136
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains section titled: 9.1 Research Directions View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Catalog of Mechanisms

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 137 - 173
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains section titled: Offset Three-Arc Cam Pair, Centered Three-Arc Cam Pair, Six-Arc Cam Pair, Unidirectional Three-Finger Cam Pair, Bidirectional Three-Finger Cam Pair, Geneva Pair, Inverse Geneva Pair, Intermittent Cam Pair, Interlock Pair, Star Indexer Pair, Disk Indexer Pair, Lever Indexer Pair, Interlock Drive Pair, Ratchet Pair, Escapement Pair, Double-Rack Gears Pair, Sector Gears Pair, Dwell Gears Pair, Double-Sector Gears Pair, Reciprocating Indexer Pair, Spatial Indexer Pair, Spatial Geneva Pair, Spatial Orthogonal Gear Pair, Spatial Bevel Gears Mechanism, Counter Mechanism, Pawl Indexer Mechanism, Intermittent Gear Mechanism, Lever Indexer Mechanism, Movie Film Advance Mechanism, Camera Shutter Mechanism View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      HIPAIR Software

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 175 - 182
      Copyright Year: 2010

      MIT Press eBook Chapters

      This chapter contains section titled: Installation, Graphical User Interface, Mechanisms, Input Format View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Glossary

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 183 - 186
      Copyright Year: 2010

      MIT Press eBook Chapters

      This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry. After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files. The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics. View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      References

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 187 - 192
      Copyright Year: 2010

      MIT Press eBook Chapters

      This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry. After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files. The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics. View full abstract»

    • Full text access may be available. Click article title to sign in or learn about subscription options.

      Index

      Sacks, E. ; Joskowicz, L.
      The Configuration Space Method for Kinematic Design of Mechanisms

      Page(s): 193 - 195
      Copyright Year: 2010

      MIT Press eBook Chapters

      This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry. After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files. The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics. View full abstract»




| Create Account

IEEE Account

Purchase Details

Profile Information

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.