E-Book Overview
This book is based on a lecture course delivered by the authors over a period of many years to the students in mechanics at the St. Petersburg State Technical University (the former Leningrad Polytechnic Institute). The material differs from numerous traditional text books on Theory of Machines and Mechanisms through a more profound elaboration of the methods of structural, geometric, kinematic and dynamic analysis of mechanisms and machines, consisting in both the development of well-known methods and the creation of new ones that take into account the needs of modem machine building and the potential of modem computers. The structural analysis of mechanisms is based on a new definition of structural group which makes it possible to consider closed structures that cannot be reduced to linkages of Assur groups. The methods of geometric analysis are adapted to the analysis of planar and spatial mechanisms with closed structure and several degrees of movability. Considerable attention is devoted to the problems of con figuration multiplicity of a mechanism with given input coordinates as well as to the problems of distinguishing and removing singular positions, which is of great importance for the design of robot systems. These problems are also reflected in the description of the methods of kinematic analysis employed for the investi gation of both open ("tree"-type) structures and closed mechanisms.
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Foundations of Engineering Mechanics M.Z. Kolovsky, A.N. Evgrafov, Yu. A. Semenov, A. V. Slousch Advanced Theory of Mechanisms and Machines
Springer-Verlag Berlin Heidelberg GmbH
Engineering
ONLINE LIBRARY
http://www.springer.de/engine/
M.Z. Kolovsky, A.N. Evgrafov, Yu. A. Semenov, A. V. Slousch
Advanced Theory of Mechanisms and Machines Translated by L. Lilov
With 250 Figures
,
Springer
Series Editors: V. 1. Babitsky, DSc Loughborough University Department of Mechanical Engineering LEII 3TU Loughborough, Leicestershire United Kingdom
J. Wittenhurg Karlsruhe (TH) Institut fiirTechnische Mechanik KaiserstraBe 12 D-76128 Karlsruhe I Germany Universităt
Authors: M.Z. Kolovsky A.N. Evgrafov Yu. A. Semenov A. V. Slousch State Technical University St. Petersburg Kondratievsky 56-24 195197 St. Petersburg Russia
Translator: Prof. Dr. 1. Lilov ul. Rajko Jinzifov 1606 Sofia Bulgaria
Cataloging-in publication data applied for Die Deutsche Bibliothek - CIP-Einheitsaufnahme Advanced theory of mechanisms and machines / M.Z. Kolovsky. Translated by L. Lilov Berlin; Heidelberg; NewYork; Barcelona; Hong Kong; London; Milan; Paris; Singapore; Tokyo: Springer, 2000 (Foundations of engineering mechanics)
ISBN 978-3-642-53672-4 ISBN 978-3-540-46516-4 (eBook) DOI 10.1007/978-3-540-46516-4 This work is subject to copyright. AII rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, re citation, broadcasting, reproduction on microfilm or in other ways, and storage in data banks. Duplication of this publication or parts thereofis permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer-Verlag. Violations are liable for prosecution act under German Copyright Law.
© Springer-Verlag Berlin Heidelberg 2000
Originally published by Springer-Verlag Berlin Heidelberg New York in 2000 Softcover reprint ofthe hardcover Ist edition 2000 The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for gen