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عدد المساهمات : 19001 التقييم : 35505 تاريخ التسجيل : 01/07/2009 الدولة : مصر العمل : مدير منتدى هندسة الإنتاج والتصميم الميكانيكى
| موضوع: كتاب Mechanisms and Robots Analysis with MATLAB السبت 24 أغسطس 2019, 12:40 am | |
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أخوانى فى الله أحضرت لكم كتاب Mechanisms and Robots Analysis with MATLAB Dan B. Marghitu
و المحتوى كما يلي :
Contents 1 Introduction . 1 1.1 Degrees of Freedom and Motion 1 1.2 Kinematic Pairs 3 1.3 Dyads 8 1.4 Independent Contours . 10 1.5 Planar Mechanism Decomposition 10 2 Position Analysis . 15 2.1 Absolute Cartesian Method 15 2.2 Slider-Crank (R-RRT) Mechanism 16 2.3 Four-Bar (R-RRR) Mechanism . 20 2.4 R-RTR-RTR Mechanism 27 2.5 R-RTR-RTR Mechanism: Complete Rotation . 31 2.5.1 Method I: Constraint Conditions . 31 2.5.2 Method II: Euclidian Distance Function . 35 2.6 Path of a Point on a Link with General Plane Motion . 37 2.7 Creating a Movie . 40 3 Velocity and Acceleration Analysis . 43 3.1 Introduction . 43 3.2 Velocity Field for a Rigid Body . 44 3.3 Acceleration Field for a Rigid Body . 46 3.4 Motion of a Point that Moves Relative to a Rigid Body . 50 3.5 Slider-Crank (R-RRT) Mechanism 53 3.6 Four-Bar (R-RRR) Mechanism . 60 3.7 Inverted Slider-Crank Mechanism . 65 3.8 R-RTR-RTR Mechanism 71 3.9 Derivative Method 79 3.10 Independent Contour Equations . 95 ixx Contents 4 Dynamic Force Analysis 109 4.1 Equation of Motion for General Planar Motion 109 4.2 D’Alembert’s Principle 114 4.3 Free-Body Diagrams 115 4.4 Force Analysis Using Dyads . 116 4.4.1 RRR Dyad 116 4.4.2 RRT Dyad 118 4.4.3 RTR Dyad 119 4.5 Force Analysis Using Contour Method . 120 4.6 Slider-Crank (R-RRT) Mechanism 121 4.6.1 Inertia Forces and Moments . 124 4.6.2 Joint Forces and Drive Moment 126 4.7 R-RTR-RTR Mechanism 147 4.7.1 Inertia Forces and Moments . 151 4.7.2 Joint Forces and Drive Moment 154 5 Direct Dynamics: Newton–Euler Equations of Motion 183 5.1 Compound Pendulum . 183 5.2 Double Pendulum 192 5.3 One-Link Planar Robot Arm . 201 5.4 Two-Link Planar Robot Arm . 204 6 Analytical Dynamics of Open Kinematic Chains . 209 6.1 Generalized Coordinates and Constraints . 209 6.2 Laws of Motion 211 6.3 Lagrange’s Equations for Two-Link Robot Arm . 213 6.4 Rotation Transformation . 225 6.5 RRT Robot Arm . 228 6.5.1 Direct Dynamics . 228 6.5.2 Inverse Dynamics 246 6.5.3 Kane’s Dynamical Equations 250 6.6 RRTR Robot Arm 257 7 Problems 275 7.1 Problem Set: Mechanisms . 275 7.2 Problem Set: Robots 291 A Programs of Chapter 2: Position Analysis . 301 A.1 Slider-Crank (R-RRT) Mechanism 301 A.2 Four-Bar (R-RRR) Mechanism . 303 A.3 R-RTR-RTR Mechanism 306 A.4 R-RTR-RTR Mechanism: Complete Rotation . 309 A.5 R-RTR-RTR Mechanism: Complete Rotation Using Euclidian Distance Function 312 A.6 Path of a Point on a Link with General Plane Motion: R-RRT Mechanism 314Contents xi A.7 Path of a Point on a Link with General Plane Motion: R-RRR Mechanism 315 B Programs of Chapter 3: Velocity and Acceleration Analysis . 317 B.1 Slider-Crank (R-RRT) Mechanism 317 B.2 Four-Bar (R-RRR) Mechanism . 322 B.3 Inverted Slider-Crank Mechanism . 326 B.4 R-RTR-RTR Mechanism 331 B.5 R-RTR-RTR Mechanism: Derivative Method . 339 B.6 Inverted Slider-Crank Mechanism: Derivative Method 344 B.7 R-RTR Mechanism: Derivative Method 347 B.8 R-RRR Mechanism: Derivative Method 349 B.9 R-RTR-RTR Mechanism: Contour Method . 354 C Programs of Chapter 4: Dynamic Force Analysis 363 C.1 Slider-Crank (R-RRT) Mechanism: Newton–Euler Method 363 C.2 Slider-Crank (R-RRT) Mechanism: D’Alembert’s Principle . 368 C.3 Slider-Crank (R-RRT) Mechanism: Dyad Method . 372 C.4 Slider-Crank (R-RRT) Mechanism: Contour Method . 378 C.5 R-RTR-RTR Mechanism: Newton–Euler Method 382 C.6 R-RTR-RTR Mechanism: Dyad Method . 396 C.7 R-RTR-RTR Mechanism: Contour Method . 408 D Programs of Chapter 5: Direct Dynamics . 423 D.1 Compound Pendulum . 423 D.2 Compound Pendulum Using the Function R(t,x) 425 D.3 Double Pendulum 426 D.4 Double Pendulum Using the File RR.m 428 D.5 One-Link Planar Robot Arm . 430 D.6 One-Link Planar Robot Arm Using the m-File Function Rrobot.m . 432 D.7 Two-Link Planar Robot Arm Using the m-File Function RRrobot.m 433 E Programs of Chapter 6: Analytical Dynamics . 437 E.1 Lagrange’s Equations for Two-Link Robot Arm . 437 E.2 Two-Link Robot Arm: Inverse Dynamics . 442 E.3 RRT Robot Arm . 444 E.4 RRT Robot Arm: Inverse Dynamics . 453 E.5 RRT Robot Arm: Kane’s Dynamical Equations 457 E.6 RRTR Robot Arm 462 References . 475 Index . 47 Index A acceleration, 46 angle of the body, 1 angular coordinate, 1 velocity, 46, 49, 51 acceleration, 47, 53 momentum, 112 axis, 20 B body-fixed reference frame, 44, 50 C cam-follower, 4 Cartesian reference frame, 17, 21 center of mass, 114 central inertia dyadic, 239 cd, 201 class, 8 clear, 16 clc, 16 close, 16 closed kinematic chains, 5 char, 57 coincident points, 95 complex plane motion, 3 compound pendulum, 183 connectivity table, 11 contour, 5 contour diagram, 11 contour equations, 95 crank, 6 Coriolis acceleration, 52 component, 3 constraint equation, 209 couple, 201 coupler, 7 cross, 54 cross product, 54 D d’Alembert’s principle, 114 degrees of freedom, 1 decomposition, 10 derivative method, 79 diff, 80, 188 direct dynamics, 114 direction, 46 dot, 54 dot product, 54 double pendulum, 192 drive moment, 126 driver, 8 driven, 8 driven force, 124 dyad, 8 dyad method, 137 dynamical equations, 212 dynamics, 114 477478 Index E equilibrium, 114 eval, 18 F fclose, 201 fixed reference frame, 43 frame, 1 free-body diagram, 115 feedback control, 201, 204 force, 109 follower, 4, 8 four-bar, 10, 20 for, 31 fprintf, 19 full joint, 3 function, 35, 190 fundamental kinematic chain, 8 G general plane motion, 3 generalized active forces, 212, 217 coordinates, 184, 209 inertia forces, 212, 251 forces, 235 velocities, 210 getframe, 41 grid, 20 ground, 3 H half-joint, 4 holonomic, 211 I if, 18, 25 inertia force, 114 moment, 114 matrix, 239 inertial reference frame, 183 inline, 189 independent contour, 10 coordinate, 3 parameters, 1 initial conditions, 189 inverted slider-crank, 65 J joint, 3 K Kane’s dynamical equations, 212 kinematic chain, 5 pair, 3 kinetic diagram, 117, 118 kinetic energy, 213 L Lagrange’s equations, 213 link, 3 lower joint, 5 loop, 5 M magnitude, 44 mass center, 38 mass moment of inertia, 112 mechanism, 6 mixed kinematic chain, 6 mobility, 8 mobile reference frame, 43 moment, 111 movie, 40 moviein, 40 movie2avi, 41 multiple joint, 5 N Newton’s second law, 110 Newton’s third law, 110 Newton–Euler equation of motion, 113 non-holonomic, 211 O ode45, 189 open kinematic chain, 6Index 479 order of a joint, 5 P partial velocity, 212 pause, 35 Pfafan form, 210 plot, 19 position vector, 21 Poisson formulas, 46 primary reference frame, 43 pure rotation, 3 translation, 3 R reference frame fixed, 3 rotating, 43 relative acceleration, 47 angular acceleration, 71 angular velocity, 70 velocity, 46 motion, 3 resultant, 114, 211 rigid body, 1 rhenomic, 211 rocker, 7 rotation, 2 rotation transformation matrix, 226 scleronomic, 211 sign, 124 slider-crank, 16 slope, 15 solve, 18 state space, 210 Stewart mechanism, 7 structural diagram, 11 subs, 79 system groups, 8 sym, 56 syms, 188 T text, 19 title, 19 torque, 201 translation, 2 V vector, 18, 21 velocity, 43 vpa, 57 X xlabel, 19 Y ylabel, 19
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