An introduction to the mathematical theory of design for articulated mechanical systems known as linkages. This book will be useful to mathematics, engineering and computer science departments that teach courses on mathematical modelling of robotics and other articulated mechanical systems.

Inhalt

Analysis of Planar Linkages.- Graphical Synthesis in the Plane.- Planar Kinematics.- Algebraic Synthesis of Planar Chains.- Analysis of Spherical Linkages.- Spherical Kinematics.- Algebraic Synthesis of Spherical Chains.- Analysis of Spatial Chains.- Spatial Kinematics.- Algebraic Synthesis of Spatial Chains.- Platform Manipulators.