Category: Lecture Notes
Lecture notes on specific topics.
My iBook Kinematics and Polynomials is now available for preorder on iTunes. You can see a preview at this link. At 75MB it is considered a relatively large download.
The goal is a presentation of the analysis and synthesis of kinematic systems that relies on the theory of polynomials. I wanted to include some Mathematica code by means of video screen capture and some animations. The iBook format makes this convenient, however the size of the document increases rapidly with each video.
Currently, it can only be seen on an iPad, but this is supposed to change soon, because the OSX Mavericks operation system is to include an iBooks application.
My latest attempt at ePublishing is an iBook called Kinematics and Polynomials in Brief. It will be available on October 1, 2013. It is about 50 pages and includes six short videos, which unfortunately add up to about 75MB. This is about three times the size of Introduction to Theoretical Kinematics, though about half the number of pages. It is also about six times what is recommended for a book download.
The extra MB arise from short videos of Mathematica algorithms that perform example calculations presented in the text. Actually, most of the videos show me silently executing the Mathematica commands, but I do talk in two of them, which significantly increases their size. If you are interested in the Mathematica files, please contact me.
Our paper Numerical Synthesis of Six-bar Linkages for Mechanical Computation provides the mathematical theory that underlies the synthesis of a six-bar linkage with an input-output relationship that approximates a specified function. This describes how the Stephenson III six-bar linkage that sets the elevation for a ballistic trajectory was designed.
You can see it at the link: Introduction to Theoretical Kinematics.
Select this link to download a .pdf version of A. Svoboda, Computing Mechanisms and Linkages, Dover Publications, 1965, (17MB). This book was originally published by McGraw-Hill in 1948.
Select this link to download a .pdf version of A. B. Kempe, How to Draw a Straight Line, MacMillan and Co., London, 1877. (1.8MB)
The NSF Workshop on 21st Century Kinematics at the 2012 ASME IDETC Conference in Chicago, IL on August 11-12, 2012 consisted of a series of presentations and a book of supporting material prepared by the workshop contributors.
The book is now available at amazon.com: 21st Century Kinematics–The 2012 NSF Workshop.
And here are the seven primary presentations given at the workshop.
- Computer-Aided Invention of Mechanisms and Robots. J. Michael McCarthy, Professor, University of California, Irvine.
- Mechanism Synthesis for Modeling Human Movement. Vincenzo Parenti-Castelli, Professor, University of Bologna.
- Algebraic Geometry and Kinematic Synthesis. Manfred Husty, Professor, University of Innsbruck.
- Kinematic Synthesis of Compliant Mechanisms. Larry Howell, Professor, Brigham Young University.
- Kinematics and Numerical Algebraic Geometry. Charles Wampler, Technical Fellow, General Motors Research and Development.
- Kinematic Analysis of Cable Robotic Systems. Vijay Kumar, Professor, University of Pennsylvania.
- Protein Kinematics. Kazem Kazerounian, Professor, University of Connecticut.
Colleagues joined in with two additional presentations:
- Development of Fast Pick and Place Robots. Jorge Angeles, Professor, McGill University.
- Kinestatic Analysis of Mechanisms with Compliant Elements. Carl Crane, Professor, University of Florida.
Many thanks to the contributors and the attendees for an outstanding workshop.
Here is the schedule for the IDETC/NSF Workshop on 21st Century Kinematics: