LEADER 01229cam0-22004451i-450- 001 990007742220403321 005 20131120110515.0 010 $a88-14-04787-1 035 $a000774222 035 $aFED01000774222 035 $a(Aleph)000774222FED01 035 $a000774222 100 $a20030814d1994----km-y0itay50------ba 101 0 $aita 102 $aIT 105 $ay---n---001yy 200 1 $a<>vendita di cose mobili$fFernando Bocchini 210 $aMilano$cGiuffrè$d1994 215 $aXIV, 460 p.$d25 cm 225 1 $a<>Codice civile. Commentario$v15 516 1 $aArtt. 1510-1530 676 $a340.03$v11 rid.$zita 676 $a346.043 700 1$aBocchini,$bFernando$g<1944->$0404845 801 0$aIT$bUNINA$gRICA$2UNIMARC 901 $aBK 912 $a990007742220403321 952 $aDPR 5-110/29$b13785$fDEC 952 $aSDC-1(1510/1530)$bs.i.$fDDCP 952 $a1-D-1510/1530$b6879$fDDCP 952 $aVI E 137 (15)$b3544$fDDA 952 $aVIII B 642 (39)$b25128*$fFGBC 952 $aC.SCH.1510/1530$b1448 DIP.$fDDRC 959 $aDEC 959 $aDDCP 959 $aDDA 959 $aFGBC 959 $aDDRC 996 $aVendita di cose mobili$9665422 997 $aUNINA LEADER 06575nam 22008775 450 001 9910438042703321 005 20251113210330.0 010 $a1-283-53185-2 010 $a9786613844309 010 $a94-007-4201-0 024 7 $a10.1007/978-94-007-4201-7 035 $a(CKB)2670000000232784 035 $a(EBL)971931 035 $a(OCoLC)804845686 035 $a(SSID)ssj0000742003 035 $a(PQKBManifestationID)11423154 035 $a(PQKBTitleCode)TC0000742003 035 $a(PQKBWorkID)10745335 035 $a(PQKB)11653624 035 $a(DE-He213)978-94-007-4201-7 035 $a(MiAaPQ)EBC971931 035 $a(PPN)168337339 035 $a(EXLCZ)992670000000232784 100 $a20120725d2013 u| 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aTheory of Parallel Mechanisms /$fby Zhen Huang, Qinchuan Li, Huafeng Ding 205 $a1st ed. 2013. 210 1$aDordrecht :$cSpringer Netherlands :$cImprint: Springer,$d2013. 215 $a1 online resource (429 p.) 225 1 $aMechanisms and Machine Science,$x2211-0992 ;$v6 300 $aDescription based upon print version of record. 311 08$a94-017-8480-9 311 08$a94-007-4200-2 320 $aIncludes bibliographical references and index. 327 $aTheory 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 327 $aReferencesChapter 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 327 $a2.8 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 Gru?bler-Kutzbach Criterion; 3.2.2 Mobility Open Issue; 3.3 Mobility Principle Based on Reciprocal Screw 327 $a3.3.1 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-2 327 $a4.1 Mobility Analysis of Simple Mechanisms4.1.1 Open Chain Linkage; 4.1.2 Roberval Mechanism; 4.1.3 RUPUR Mechanism; 4.1.4 Herve? Six-Bar Mechanism; 4.1.5 Spatial 4P Mechanism; 4.1.6 Delassus H-H-H-H Mechanism; 4.1.7 Herve?'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 327 $a4.3 Mobility Analysis of Modern Parallel Mechanisms 330 $aThis book contains mechanism analysis and synthesis. In mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validity was only proved recently,  is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its latest developments are described. This principle is suitable for kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularity is stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented. In mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, is introduced in detail. Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed. 410 0$aMechanisms and Machine Science,$x2211-0992 ;$v6 606 $aMachinery 606 $aMechanics, Applied 606 $aSolids 606 $aControl engineering 606 $aRobotics 606 $aAutomation 606 $aMachinery and Machine Elements 606 $aSolid Mechanics 606 $aControl, Robotics, Automation 615 0$aMachinery. 615 0$aMechanics, Applied. 615 0$aSolids. 615 0$aControl engineering. 615 0$aRobotics. 615 0$aAutomation. 615 14$aMachinery and Machine Elements. 615 24$aSolid Mechanics. 615 24$aControl, Robotics, Automation. 676 $a629.8 676 $a629.8/92 700 $aHuang$b Zhen$01060082 701 $aLi$b Qinchuan$01226757 701 $aDing$b Huafeng$01227400 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910438042703321 996 $aTheory of parallel mechanisms$94202256 997 $aUNINA