![]() Roberts-Chebyshev theorem is described and proved, and the use of the theorem in practice is shown. Using relative motion concept, the position synthesis of six-link mechanisms is also taken into account. Analytical methods are explained using complex numbers. Geometrical and analytical methods of guiding a rigid body between the given positions, path generation with prescribed timing and correlation of crank angles are covered. After a brief history on how the machine science has developed throughout history from the viewpoint of mechanism design, the chapters explain two, three, four and five position synthesis of mechanisms in detail respectively. The methods discussed are all implemented geometrically using Geogebra and analytically using Excel® two readily available tools for personal computers. This textbook covers classical geometrical methods and modern analytical methods in kinematic synthesis of mechanisms.
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