Mechanisms—Synthesis and Analysis with Applications in Robotics

This book serves as an introductory course on mechanisms with robotics concepts for undergraduate students. New concepts are presented that support the mechanical design of robots. Basic concepts from mechanism theory are presented to provide a base for designing mechanisms in general.

Part I of the book examines the introductory concepts of mechanisms theory and serves as basis for analyzing and designing mechanisms. Part II presents the analysis of four-bar linkages, including the Grashof criterion and the transmission quality; structural analysis of mechanisms, including concepts used in robot design such as connectivity and redundancy; and kinematic analysis of mechanisms, including analysis of position, velocity, and acceleration. Part III describes the number and type syntheses of mechanisms; dimensional synthesis of four-bar linkages for two and three positions; dimensional synthesis for function generation and crank-rocker mechanism.

Chapter-wise teaching examples are shown, and specific references for each topic are listed. At the end of each chapter, a list of exercises with gradually increasing difficulty is presented, designed to help undergraduate students understand the contents.

Introduction to the Theory of Mechanisms.- Introduction.- Mobility.- Mechanism Analysis.- Four-bar Linkages.- Structural Analysis.- Kinematic Analysis.- Mechanism Synthesis.- Number and Type Syntheses.- Dimensional Synthesis of a Four-bar Linkage for Two Finitely Separated Positions (2 FSP).- Dimensional Synthesis of a Four-bar Linkage for Three Finitely Separated Positions (3 PFS).- Function Generation and Crank-rocker Dimensional Syntheses.

Daniel Martins is professor of Mechanical Engineering at the Federal University of Santa Catarina, Brazil. His research interests include mechanism design and robotics, kinematics, statics and dynamics of mechanical systems with emphasis on mechanical design.

Estevan Hideki Murai is professor at the Federal University of Santa Catarina, Brazil. He has lectured mechanism and machine design. Currently he lectures CAD modeling and product design. His research interests include mechanism design, machine design and robotics with emphasis on mechanical design.