Freedom in Machinery, Volumes 1-2

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Cambridge University Press, Feb 22, 2007 - Technology & Engineering - 425 pages
Does a machine run well by virtue of its accuracies, or its freedoms? This work presents an exciting, diagrammatic display of the hidden geometry of freedom and constraint. It bolsters the imaginative design of robots, but applies across all fields of machinery. The figures and their captions comprise alone a self-standing story, and this connects effectively with the rigorously argued text. The seamless combination of the two volumes (1984, 1990) renders the internal cross-referencing (forward and backward within the volumes) easier to look up. The appearance of this paperback is a clear testament to the work's ongoing readership. The term screw theory occurs throughout. This relates (after Ball) to the book's philosophy; and one might equally mention kinetostatics (after Federhofer). An all-pervading, counter-intuitive fact accordingly presents itself: while, analogously, angular velocity relates to force, linear velocity relates to couple. A direct consequence of Freedom in Machinery is a more recent book by the same author. Specifically titled General Spatial Involute Gearing and published in Germany (2003), it exemplifies the many ways in which Freedom in Machinery clarifies the enigmatic field of spatial mechanism. That field continuously expands with the current, continuous thrust of ordinary engineering practice.
 

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Contents

VOLUME ONE Preface xii
1
Mechanism and the mobility
7
A criterion for mobility
13
Some wider considerations and
21
Overconstraint and the nature
27
The question of completed chains
31
On the question of flexible links
38
Some of the various lines in a moving
45
In recapitulation
83
Five points of contact between the bodies
89
Appendix 6C Notes on the quasigeneral
99
The possibilities in reality for practical
105
70
118
84
124
99
156
105

Revolute axes rlines and the actional
51
Another important theorem
57
Rigidity and the instantaneous screw axis
65
Irregularity and the freedoms within
77
VOLUME TWO Preface xiii
1
The vector polygons for spatial mechanism
19
Copyright

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