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Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms by Ning Ma, Fulei Chu, Zhijing Feng, Jingshan Zhao

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Chapter 1

Introduction

Abstract

This chapter introduces the content of the book. Mechanism is a branch of mechanical engineering science focusing on the study of the motion and the transmission law of mechanisms, which consists of structure analysis and synthesis. Structure analysis of mechanism mainly investigates the structure principles of mechanisms and usually covers two main issues: one is to analyze the mobility of the structure, and the other is to explore the trajectory, displacement, velocity, and acceleration of the mechanism. Structure synthesis of mechanism focuses on the design of the mechanisms to meet the kinematic requirements according to the expected motion. Research results of principles of structure constitution, kinematics, ...

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