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1. |
Record Nr. |
UNINA990000325810403321 |
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Titolo |
Bioelectrochemistry / Edited by Hendrik Keyzer and Felix Gutmann |
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Pubbl/distr/stampa |
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New York : Plenum Press, copyr. 1980 |
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Descrizione fisica |
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Disciplina |
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Locazione |
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Materiale a stampa |
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Livello bibliografico |
Monografia |
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2. |
Record Nr. |
UNINA9910438042703321 |
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Autore |
Huang Zhen |
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Titolo |
Theory of Parallel Mechanisms / / by Zhen Huang, Qinchuan Li, Huafeng Ding |
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Pubbl/distr/stampa |
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Dordrecht : , : Springer Netherlands : , : Imprint : Springer, , 2013 |
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ISBN |
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1-283-53185-2 |
9786613844309 |
94-007-4201-0 |
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Edizione |
[1st ed. 2013.] |
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Descrizione fisica |
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1 online resource (429 p.) |
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Collana |
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Mechanisms and Machine Science, , 2211-0992 ; ; 6 |
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Altri autori (Persone) |
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Disciplina |
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Soggetti |
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Machinery |
Mechanics, Applied |
Solids |
Control engineering |
Robotics |
Automation |
Machinery and Machine Elements |
Solid Mechanics |
Control, Robotics, Automation |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Note generali |
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Description based upon print version of record. |
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Nota di bibliografia |
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Includes bibliographical references and index. |
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Nota di contenuto |
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Theory of Parallel Mechanisms; Preface; Contents; Chapter 1: Basics of Screw Theory; 1.1 Introduction; 1.2 Equation of a Line; 1.3 Mutual Moment of Two Lines; 1.4 Line Vectors and Screws; 1.4.1 The Line Vector; 1.4.2 The Screw; 1.5 Screw Algebra; 1.5.1 Screw Sum; 1.5.2 Product of a Scalar and a Screw; 1.5.3 Reciprocal Product; 1.6 Instantaneous Kinematics of a Rigid Body; 1.6.1 Instantaneous Rotation; 1.6.2 Instantaneous Translation; 1.6.3 Instantaneous Screw Motion; 1.7 Statics of a Rigid Body; 1.7.1 A Force Acting on a Body; 1.7.2 A Couple Acting on a Body; 1.7.3 A Twist Acting on a Body |
ReferencesChapter 2: Dependency and Reciprocity of Screws; 2.1 Concept of Screw Systems; 2.2 Second-Order Screw System; 2.2.1 Linear Combination of Two Screws; 2.2.2 Special Two-Screw System; 2.3 Third-Order Screw System; 2.3.1 Principal Screws; 2.3.2 Special Three-Screw Systems; 2.4 Grassmann Line Geometry; 2.5 Screw Dependency in Different Geometrical Spaces; 2.5.1 Basic Concepts; 2.5.2 Different Geometrical Spaces; 2.6 Reciprocal Screws; 2.6.1 Concept of a Reciprocal Screw; 2.6.2 Dualism in the Physical Meaning of Reciprocal Screws; 2.7 Reciprocal Screw System |
2.8 Reciprocal Screw and Constrained Motion2.8.1 Three Skew Lines in Space; 2.8.2 Three Lines Parallel to a Plane Without a Common Normal; 2.8.3 Three Non-concurrent Coplanar Lines; 2.8.4 Three Coplanar and Concurrent Line Vectors; 2.8.5 Three Line Vectors Concurrent in Space; 2.8.6 Three Line Vectors Parallel in Space; References; Chapter 3: Mobility Analysis Part-1; 3.1 The Concept and Definition of Mobility; 3.2 Mobility Open Issue; 3.2.1 Grübler-Kutzbach Criterion; 3.2.2 Mobility Open Issue; 3.3 Mobility Principle Based on Reciprocal Screw |
3.3.1 Mechanism Can Be Expressed as a Screw System3.3.2 Development of Our Unified Mobility Principle; 3.3.3 The Modified G-K Formulas; 3.4 Constraint Analysis Based on Reciprocal Screw; 3.4.1 The Common Constraint; 3.4.2 Parallel Constraint; 3.4.3 Over-Constraint; 3.4.4 The Generalized Kinematic Pair; 3.5 Mobility Property Analyses; 3.5.1 Translation and Rotation; 3.5.2 Rotational Axis; 3.5.3 Instantaneous Mobility and Full-Cycle Mobility; 3.5.4 Full-Field Mobility; 3.5.5 Parasitic Motion; 3.5.6 Self-motion; References; Chapter 4: Mobility Analysis Part-2 |
4.1 Mobility Analysis of Simple Mechanisms4.1.1 Open Chain Linkage; 4.1.2 Roberval Mechanism; 4.1.3 RUPUR Mechanism; 4.1.4 Hervé Six-Bar Mechanism; 4.1.5 Spatial 4P Mechanism; 4.1.6 Delassus H-H-H-H Mechanism; 4.1.7 Hervé's CCC Mechanism; 4.2 Mobility Analysis of Classical Mechanisms; 4.2.1 Bennett Mechanism; 4.2.2 Five-Bar Goldberg Linkage; 4.2.3 Six-Bar Goldberg Linkage; 4.2.4 Myard Linkage with Symmetrical Plane; 4.2.5 Bricard with Symmetrical Plane; 4.2.6 Altmann Abb.34 Mechanism; 4.2.7 Altmann Six-Bar Linkage; 4.2.8 Waldron Six-Bar Linkage |
4.3 Mobility Analysis of Modern Parallel Mechanisms |
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Sommario/riassunto |
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This book contains mechanism analysis and synthesis. In mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validity was only proved recently, is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its latest |
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developments are described. This principle is suitable for kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularity is stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented. In mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, is introduced in detail. Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed. |
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