Degrees of Freedom in Mechanics: Exploring Motion and Control in Robotic Systems
About this ebook
2: Machine: Explore the nature of machines, including their structure, function, and the role of degrees of freedom in determining machine behavior and capabilities.
3: Kinematics: Learn the principles of kinematics, focusing on the motion of bodies without considering forces, and its application in robotic systems.
4: Configuration space (physics): Understand the concept of configuration space, where all possible positions and orientations of a system are represented.
5: Rigid body dynamics: Dive into rigid body dynamics, focusing on the motion of solid bodies in a mechanical system and its relevance to robotics.
6: Inverse kinematics: Explore inverse kinematics, a crucial aspect of robotic movement that involves calculating the required joint parameters to reach a target position.
7: Nonholonomic system: Learn about nonholonomic systems, where constraints on movement depend on the velocity, impacting the design of robotic systems.
8: Robot kinematics: This chapter delves into the specific application of kinematics to robots, covering how they achieve movement through joints and links.
9: Linkage (mechanical): Study the mechanical linkages that connect parts of a machine, enabling precise movement and functionality in robotic systems.
10: Overconstrained mechanism: Examine overconstrained mechanisms, which, despite having more constraints than necessary, can still function effectively in some systems.
11: Six degrees of freedom: A focus on the six degrees of freedom crucial to robotic arms and manipulators, enabling full control over movement in threedimensional space.
12: Parallel manipulator: Study the parallel manipulator, a mechanism in which multiple arms work in tandem to control movement with high precision.
13: Multibody system: Understand the dynamics of systems involving multiple interconnected bodies, critical in complex robotic systems.
14: Kinematic pair: Learn about kinematic pairs, which define the relative motion between components in a mechanism and their constraints.
15: Kinematic chain: This chapter discusses kinematic chains, where a series of interconnected links and joints create a system capable of controlled movement.
16: Holonomic constraints: Dive into holonomic constraints, where the restrictions on motion are directly related to the system's coordinates.
17: Chebychev–Grübler–Kutzbach criterion: Explore this criterion for analyzing the degree of freedom in mechanisms and determining the feasibility of mechanical systems.
18: Mechanism (engineering): A deeper look into mechanisms in engineering, focusing on their role in transforming motion within mechanical systems.
19: Kinematics equations: Learn about the mathematical equations that govern the motion of robotic systems, providing solutions to kinematic problems.
20: Freedom and constraint topologies: Study the topological relationships between degrees of freedom and constraints in robotic systems, essential for optimal design.
21: Cartesian parallel manipulators: Explore Cartesian parallel manipulators, which offer high accuracy and speed by using multiple arms arranged in parallel.
