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Mechanism design: Analysis and synthesis
Mech. Math. Theory Vol. 28. No. S. pp. 727-728. 1993 Pergamon Press Ltd. Printed in Great Bntmn
BOOK REVIEWS Applied Dynamicsof Manipulation Robots--Mndelfing, Analysis, Examples. By M. Vukobratovic. Springer, Berlin, 1989. The reviewed book comes from the pen of one of the most productive authors on robotics fitcrature in the world. He has published numerous surveys of the state-of-the-art in that area, as well as many books, in several languages, containing the results of his personal and group research. The most realistic problems, being continually treated and the methods for their solution being constantly improved by Professor M. Vukobratovic, are the problems of robot dynamics, its computer-aided modelling and the control of complex powered mechanisms. This book is dedicated to the solution of these problems by means of modern methods. The book consists of three large chapters with numerous appendices, in the first chapter, general data about robots has been presented. Complex and underwater robots are considered, and spec/ficities of various robot types are analyzed. The books by Professor Vukobratovic have traditionally presented, with emphasis and clarification, the technical problems of orthotics. At the end of this chapter, general properties of robot mechanisms are considered and their classification carried out. The second chapter of the book is the central one. In this chapter, the basic dynamic robot models are formed using computer-oriented procedures, Among topics considered are models with rigid and elastic links, influence of mechanical vibrations on the dynamical behaviour of robots, dynamic analysis of robots in the solution of inverse dynamics tasks with constrained gripper motion, dynamics of cooperative work of several robots, and problems of their decomposition. The broad set of questions and facts considered renders this book to be recognized as the most complete manual on problems of robot dynamics and their solution. In the last chapter, computer methods for linearization of the manipulation robot dynamic models are derived. This discussion is not of any lesser importance, because the linearized models find broad application in the synthesis of adaptive control laws. and also in the sensitivity analysis of large scale systems. The book also contains an extensive amount of handbook material, grouped into nine appendices. This material is very useful for a more detailed study of the problems considered. As a whole, the book contains original material, elaborated upon by the works of Professor Vukobratovic and the students at his institution. The accomplishments therein support the fact that Professor Vukobratovic has chartered his own scientific direction, having established it by effectively working in these areas for many a year. The book is interesting, and should be useful to research scientists and engineers alike who are engaged in the field of robots and their mechanics. It is appropriate also for use in courses at both the undergraduate and graduate levels in technical universities. The wonderful edition of the book, by a well-known publisher, is also worthy of mention. Moscow State Technical University "'N.E. Bauman", R~sia
A.F. VER~HCHAGIN
Theory of Gearing. By F. L. Litvin. N A S A Rc['crcncc Publication 1212, A V S C O M Technical Report 88-C-035, 1989. As the most recent publication in gear theory, this book is also the most complete monograph devoted to gear related problems, particularly in analysis and synthesis. Material presented in this book is based on the results of more than 50 years of the author's experience in gear theory and is a very natural extension of the previously published series of books by Professor F. L. Litvin on gearing (published in Russian, Chinese, Hungarian). It is also the first book of this kind published in English. In spite of its size ( 19 chapters), and complexity of the issues, this book is structured in a very natural way. All methods and ideas are presented in extremely accessible form which makes this book a very readable presentation of applying advanced, innovative and modern mathematic ideas to analysis and synthesis in mechanical engineering and gear theory particularly. Although this book contains all the basic foundation in the theory of gearing, its main value is in the uniqueness of the issues presented and methods for their solution. Among them are advanced methods of differential geometry in conjunction with kinematics of existing cutting methods as applied to the tooth contact analysis, including principal curvatures and parameters of motion. These methods are important for researchers working in computer based analysis and synthesis of meshing conditions for the wide variety of gears presented in this book. It is absolutely essential for those who work in the area of spiral bevel and hypoid gears application. This book is a valuable resource for graduate students working in a university environment as well as for researchers and gear engineers in automotive, aerospace and machine tool industries. It also contains methods which can be used by a wide variety of mechanical engineers working with multi-degree of freedom problems. GEl Systems Corporation 4033 Abbott Avenue. So. Minneapolis, MN 55410 U.S.A.
YEvs~' GUTMAN
Mechanism Design: Analysis and Synthesis, Vol. I, 2nd edn By A. G. Erdman and G. N. Sandor. Prentice-Hall, Englewood Cliffs, N.J., 1991, xviii + 631 pp. This book is a revised and enlarged edition of a text on mechanism design which was first published in 1984. At that time, it was one of the first books to present modern computer-aided design methods for mechanism design. Since the publication of the first edition, no new text of comparable scope has been published. This revised edition further strengthens the book's position as one of the most modern accounts on mechanism design. 727
728
Book Reviews
As with the first edition, analytical and computer-based contemporary design techniques continue to be emphasized in the revised version. The synergism of a wealth of examples, engineering case studies and computer programs is effectively to introduce modem computer-aided mechanisms design approaches to the reader. The analytical design methods are accompanied by graphical ones throughout the book. Numerous analysis and synthesis problems have also been solved using both graphical and analytical methods to bring forth the correlation between these two approaches. Since the book has been in print for over 7 years and is regarded highly both as a text as well as a professional reference, it is assumed that the readers with an interest in kinematics are somewhat familiar with the contents of the first edition. The interested readers may refer to an earlier review of the first edition by Professor F'reudenstein [Mech. Mach. Theory 20, 81 (1985)]. The notable enhancements in the second edition are described below. Chapter 1 which presents an overview of mechanism design fundamentals includes a new case study dealing with the design of a variable speed transmission. This excellent example should give the students a feel for how the mechanism design concepts covered in the remaining chapters are used in solving real-world design problems. Chapter 2 has been thoroughly revised to emphasize computer-aided mechanism design approaches. An Appendix discussing Al/F,xpert SDtem based approaches to CAD has been included along with a comprehensive bibliography on this subject. Chapter 3. dealing with displacement and velocity analysis of linkages, has been expanded and reorganized. A section dealing with the displacement analysis of linkages using graphical methods has been added. The section dealing with gross motion characteristics such as branching, transmission angles has been expanded, and includes a detailed description of the circuit defect. The acceleration analysis of mechanisms is addressed comprehensively in Chapter 4. Several new examples have been added to the sections dealing with Coriolis acceleration and mechanisms with curved slots and higher-pair connections. Chapter 5, which presents both graphical and matrix methods for kinetostatic analysis of mechanisms, includes additional example problems which have been solved using both these methods to bring forth the connection between these two approaches. The cam design techniques presented in Chapter 6 include a new section dealing with the graphical development of displacement diagrams. The section on advanced cam profile techniques includes detailed motion characteristic comparisons for several cam profiles. Chapter 7, dealing with the design and analysis of gearing and gear trains, is largely unchang~,xt except for an expanded discussion of conjugate gear profiles. The design synthesis of planar mechanisms using graphical and complex number methods for function, motion and path generation problems is the subject of Chapter 8. The connection between graphical and analytical methods is illustrated, once again, through example problems. The revised section on type synthesis of mechanisms also includes a di.~ussion on i~mers. While the basic format and emphasis of the book generally remains unchanged, it should be pointed out that several new examples and engineering case studies have been added to each chapter of this revised edition. In addition, numerous multi-part problems have been added to each chapter. The list of references also contains over 50 additional references. A software diskette, which complements the text's coverage of displacement, velocity and acceleration analysis of four-bar mechanisms (Chapters 3 and 4). design of cams (Chapter 6). and synthesis of four-bar mechanisms (Chapter 8), is also included in this revised edition to help reinforce computer-aidcd mechanism design methodologies. in summary, this outstanding book should continue to appeal to students, researchers, and practicing engineers alikc. The revisions incorporated in the second edition establish it without doubt as one of the most up-to-date texts on mechanism design. It is a pleasure to recommend this book both as a text for classroom use as well as a professional rcferencc.
Department of Mechanical Engineering University of Wisconsin Milwaukee, WI 33201, U.S.A.
AN(x)P K. DIIINGRA
RoMANS¥ 8, Proceedings of the Eighth C I S M - I F T o M M Symposium on Theory and Practice of Robots and Manipulators. These proceedings of one of the most important international conferences in robotics focusing primarily on mechanical engineering and control and are unique in describing work done in Eastern Europe and the previous former Soviet Union. The symposia have played an important role in the development of the theory and practice of manipulators, walking machines and robots, and the proceedings present important contributions from experts in the field of application and performance evaluation of manipulators and robots. The connection between biomechanics and robotics and other related sciences is examined as well as the biomcchanical aspects used and applied in the theory and practice of manipulators and robots. The 57 contributions are divided into sections covering mechanics, synthesis and design, sensing, control of motion, mobile robots and walking machines, applications and performance evaluation. A. Morecki is a professor at the Warsaw University of Technology, G. Bianchi is a professor at the Technical University of Milan and K. Jaworek is an assistant professor at the Warsaw University of Technology. Contents. Opening lecture by W. Sehiehlen. Part I--Mechanics I. Part 2--Mechanics 2. Part 3--Mechanics 3. Part 4--Control of motion I. Part 5---Control of motion 2. Part 6--Control of motion 3. Part 7--Mobile robots and walking machines I. Part 8--Mobile robots and walking machines 2. Part 9--sensing and machine intelligence. Part IO--Synthesis and design. Part I I--Application and performance evaluation,
Warsaw University of Technology 24 Nowowie#ka Str. 00-66.$ Warsaw, Poland
A. MORECKI
BOOK REVIEWS Applied Dynamicsof Manipulation Robots--Mndelfing, Analysis, Examples. By M. Vukobratovic. Springer, Berlin, 1989. The reviewed book comes from the pen of one of the most productive authors on robotics fitcrature in the world. He has published numerous surveys of the state-of-the-art in that area, as well as many books, in several languages, containing the results of his personal and group research. The most realistic problems, being continually treated and the methods for their solution being constantly improved by Professor M. Vukobratovic, are the problems of robot dynamics, its computer-aided modelling and the control of complex powered mechanisms. This book is dedicated to the solution of these problems by means of modern methods. The book consists of three large chapters with numerous appendices, in the first chapter, general data about robots has been presented. Complex and underwater robots are considered, and spec/ficities of various robot types are analyzed. The books by Professor Vukobratovic have traditionally presented, with emphasis and clarification, the technical problems of orthotics. At the end of this chapter, general properties of robot mechanisms are considered and their classification carried out. The second chapter of the book is the central one. In this chapter, the basic dynamic robot models are formed using computer-oriented procedures, Among topics considered are models with rigid and elastic links, influence of mechanical vibrations on the dynamical behaviour of robots, dynamic analysis of robots in the solution of inverse dynamics tasks with constrained gripper motion, dynamics of cooperative work of several robots, and problems of their decomposition. The broad set of questions and facts considered renders this book to be recognized as the most complete manual on problems of robot dynamics and their solution. In the last chapter, computer methods for linearization of the manipulation robot dynamic models are derived. This discussion is not of any lesser importance, because the linearized models find broad application in the synthesis of adaptive control laws. and also in the sensitivity analysis of large scale systems. The book also contains an extensive amount of handbook material, grouped into nine appendices. This material is very useful for a more detailed study of the problems considered. As a whole, the book contains original material, elaborated upon by the works of Professor Vukobratovic and the students at his institution. The accomplishments therein support the fact that Professor Vukobratovic has chartered his own scientific direction, having established it by effectively working in these areas for many a year. The book is interesting, and should be useful to research scientists and engineers alike who are engaged in the field of robots and their mechanics. It is appropriate also for use in courses at both the undergraduate and graduate levels in technical universities. The wonderful edition of the book, by a well-known publisher, is also worthy of mention. Moscow State Technical University "'N.E. Bauman", R~sia
A.F. VER~HCHAGIN
Theory of Gearing. By F. L. Litvin. N A S A Rc['crcncc Publication 1212, A V S C O M Technical Report 88-C-035, 1989. As the most recent publication in gear theory, this book is also the most complete monograph devoted to gear related problems, particularly in analysis and synthesis. Material presented in this book is based on the results of more than 50 years of the author's experience in gear theory and is a very natural extension of the previously published series of books by Professor F. L. Litvin on gearing (published in Russian, Chinese, Hungarian). It is also the first book of this kind published in English. In spite of its size ( 19 chapters), and complexity of the issues, this book is structured in a very natural way. All methods and ideas are presented in extremely accessible form which makes this book a very readable presentation of applying advanced, innovative and modern mathematic ideas to analysis and synthesis in mechanical engineering and gear theory particularly. Although this book contains all the basic foundation in the theory of gearing, its main value is in the uniqueness of the issues presented and methods for their solution. Among them are advanced methods of differential geometry in conjunction with kinematics of existing cutting methods as applied to the tooth contact analysis, including principal curvatures and parameters of motion. These methods are important for researchers working in computer based analysis and synthesis of meshing conditions for the wide variety of gears presented in this book. It is absolutely essential for those who work in the area of spiral bevel and hypoid gears application. This book is a valuable resource for graduate students working in a university environment as well as for researchers and gear engineers in automotive, aerospace and machine tool industries. It also contains methods which can be used by a wide variety of mechanical engineers working with multi-degree of freedom problems. GEl Systems Corporation 4033 Abbott Avenue. So. Minneapolis, MN 55410 U.S.A.
YEvs~' GUTMAN
Mechanism Design: Analysis and Synthesis, Vol. I, 2nd edn By A. G. Erdman and G. N. Sandor. Prentice-Hall, Englewood Cliffs, N.J., 1991, xviii + 631 pp. This book is a revised and enlarged edition of a text on mechanism design which was first published in 1984. At that time, it was one of the first books to present modern computer-aided design methods for mechanism design. Since the publication of the first edition, no new text of comparable scope has been published. This revised edition further strengthens the book's position as one of the most modern accounts on mechanism design. 727
728
Book Reviews
As with the first edition, analytical and computer-based contemporary design techniques continue to be emphasized in the revised version. The synergism of a wealth of examples, engineering case studies and computer programs is effectively to introduce modem computer-aided mechanisms design approaches to the reader. The analytical design methods are accompanied by graphical ones throughout the book. Numerous analysis and synthesis problems have also been solved using both graphical and analytical methods to bring forth the correlation between these two approaches. Since the book has been in print for over 7 years and is regarded highly both as a text as well as a professional reference, it is assumed that the readers with an interest in kinematics are somewhat familiar with the contents of the first edition. The interested readers may refer to an earlier review of the first edition by Professor F'reudenstein [Mech. Mach. Theory 20, 81 (1985)]. The notable enhancements in the second edition are described below. Chapter 1 which presents an overview of mechanism design fundamentals includes a new case study dealing with the design of a variable speed transmission. This excellent example should give the students a feel for how the mechanism design concepts covered in the remaining chapters are used in solving real-world design problems. Chapter 2 has been thoroughly revised to emphasize computer-aided mechanism design approaches. An Appendix discussing Al/F,xpert SDtem based approaches to CAD has been included along with a comprehensive bibliography on this subject. Chapter 3. dealing with displacement and velocity analysis of linkages, has been expanded and reorganized. A section dealing with the displacement analysis of linkages using graphical methods has been added. The section dealing with gross motion characteristics such as branching, transmission angles has been expanded, and includes a detailed description of the circuit defect. The acceleration analysis of mechanisms is addressed comprehensively in Chapter 4. Several new examples have been added to the sections dealing with Coriolis acceleration and mechanisms with curved slots and higher-pair connections. Chapter 5, which presents both graphical and matrix methods for kinetostatic analysis of mechanisms, includes additional example problems which have been solved using both these methods to bring forth the connection between these two approaches. The cam design techniques presented in Chapter 6 include a new section dealing with the graphical development of displacement diagrams. The section on advanced cam profile techniques includes detailed motion characteristic comparisons for several cam profiles. Chapter 7, dealing with the design and analysis of gearing and gear trains, is largely unchang~,xt except for an expanded discussion of conjugate gear profiles. The design synthesis of planar mechanisms using graphical and complex number methods for function, motion and path generation problems is the subject of Chapter 8. The connection between graphical and analytical methods is illustrated, once again, through example problems. The revised section on type synthesis of mechanisms also includes a di.~ussion on i~mers. While the basic format and emphasis of the book generally remains unchanged, it should be pointed out that several new examples and engineering case studies have been added to each chapter of this revised edition. In addition, numerous multi-part problems have been added to each chapter. The list of references also contains over 50 additional references. A software diskette, which complements the text's coverage of displacement, velocity and acceleration analysis of four-bar mechanisms (Chapters 3 and 4). design of cams (Chapter 6). and synthesis of four-bar mechanisms (Chapter 8), is also included in this revised edition to help reinforce computer-aidcd mechanism design methodologies. in summary, this outstanding book should continue to appeal to students, researchers, and practicing engineers alikc. The revisions incorporated in the second edition establish it without doubt as one of the most up-to-date texts on mechanism design. It is a pleasure to recommend this book both as a text for classroom use as well as a professional rcferencc.
Department of Mechanical Engineering University of Wisconsin Milwaukee, WI 33201, U.S.A.
AN(x)P K. DIIINGRA
RoMANS¥ 8, Proceedings of the Eighth C I S M - I F T o M M Symposium on Theory and Practice of Robots and Manipulators. These proceedings of one of the most important international conferences in robotics focusing primarily on mechanical engineering and control and are unique in describing work done in Eastern Europe and the previous former Soviet Union. The symposia have played an important role in the development of the theory and practice of manipulators, walking machines and robots, and the proceedings present important contributions from experts in the field of application and performance evaluation of manipulators and robots. The connection between biomechanics and robotics and other related sciences is examined as well as the biomcchanical aspects used and applied in the theory and practice of manipulators and robots. The 57 contributions are divided into sections covering mechanics, synthesis and design, sensing, control of motion, mobile robots and walking machines, applications and performance evaluation. A. Morecki is a professor at the Warsaw University of Technology, G. Bianchi is a professor at the Technical University of Milan and K. Jaworek is an assistant professor at the Warsaw University of Technology. Contents. Opening lecture by W. Sehiehlen. Part I--Mechanics I. Part 2--Mechanics 2. Part 3--Mechanics 3. Part 4--Control of motion I. Part 5---Control of motion 2. Part 6--Control of motion 3. Part 7--Mobile robots and walking machines I. Part 8--Mobile robots and walking machines 2. Part 9--sensing and machine intelligence. Part IO--Synthesis and design. Part I I--Application and performance evaluation,
Warsaw University of Technology 24 Nowowie#ka Str. 00-66.$ Warsaw, Poland
A. MORECKI