The Configuration Space Method for Kinematic Design of Mechanisms

by Sacks, Elisha; Joskowicz, Leo

• ISBN13: 9780262013895
• ISBN10: 0262013894
• Format: Hardcover
• Copyright: 2010-04-30
• Publisher: Mit Pr

Summary

This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry. After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files. The Configuration Space Method for Kinematic Design of Mechanismswill be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics.

Table of Contents

Preface	p. xi
Acknowledgments	p. xiii
Introduction	p. 1
Mechanisms and Kinematic Function	p. 3
Kinematic Design	p. 5
Content and Organization of the Book	p. 9
Notes	p. 10
Mechanisms	p. 11
Geometry of a Part	p. 11
Configurations and Motions of Parts	p. 16
Kinematic Pairs	p. 21
Mechanisms	p. 25
Classification of Mechanisms	p. 29
Notes	p. 32
Contact of Features	p. 33
Simple Planar Feature Contact	p. 33
Fixed-Axis Planar Pairs	p. 37
General Planar Pairs	p. 45
General Boundary Segments	p. 50
Spatial Pairs	p. 52
Notes	p. 55
Contact of Parts in Configuration Space	p. 57
Partition of Configuration Space	p. 57
Fixed-Axis Pairs	p. 60
Partition Algorithm for Fixed-Axis Pairs	p. 62
General Planar Pairs	p. 67
Partition Algorithm for General Planar Pairs	p. 69
Mechanisms	p. 72
Partitions of Configuration Space and the Theory of Mechanisms	p. 75
Notes	p. 78
Analysis	p. 81
Kinematic Analysis by Examination of Partition	p. 81
Kinematic Simulation	p. 87
Dynamical Simulation	p. 95
Notes	p. 98
Tolerancing	p. 99
Specifications of Parametric Tolerance	p. 99
Tolerance Analysis	p. 100
Algorithms for Kinematic Pairs	p. 103
Algorithms for Mechanisms	p. 107
Notes	p. 108
Synthesis	p. 109
Kinematic Design Cycle	p. 109
Parameter Synthesis	p. 111
Parameter Optimization	p. 117
Notes	p. 120
Case Studies	p. 121
Optical Filter Mechanism	p. 121
Manual Transmission Gearshift	p. 123
Torsional Ratcheting Actuator	p. 125
Spatial Asynchronous Gear Pair	p. 128
Conclusion	p. 133
Research Directions	p. 134
Catalog of Mechanisms	p. 137
HIPAIR Software	p. 175
Installation	p. 175
Graphical User Interface	p. 175
Mechanisms	p. 177
Input Format	p. 179
Glossary	p. 183
References	p. 187
Index	p. 193
Table of Contents provided by Publisher. All Rights Reserved.