Marghitu D.B. Mechanisms and Robots Analysis with Matlab (Springer,2009)(en)(479s)

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1、®MechanismsandRobotsAnalysiswithMATLABDanB.MarghituMechanismsandRobots®AnalysiswithMATLAB123DanB.Marghitu,ProfessorMechanicalEngineeringDepartmentAuburnUniversity270RossHallAuburn,AL36849USAISBN978-1-84800-390-3e-ISBN978-1-84800-391-0DOI10.1007/978-1-84800-391-0Springer

2、DordrechtHeidelbergLondonNewYorkBritishLibraryCataloguinginPublicationDataAcataloguerecordforthisbookisavailablefromtheBritishLibraryLibraryofCongressControlNumber:2009920949©Springer-VerlagLondonLimited2009®®MATLABandSimulinkareregisteredtrademarksofTheMathWorks,Inc.,3

3、AppleHillDrive,Natick,MA01760-2098,USA.http://www.mathworks.comApartfromanyfairdealingforthepurposesofresearchorprivatestudy,orcriticismorreview,aspermittedundertheCopyright,DesignsandPatentsAct1988,thispublicationmayonlybereproduced,storedortransmitted,inanyformorbyany

4、means,withthepriorpermissioninwritingofthepublishers,orinthecaseofreprographicreproductioninaccordancewiththetermsoflicencesissuedbytheCopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethosetermsshouldbesenttothepublishers.Theuseofregisterednames,trademarks

5、,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantlawsandregulationsandthereforefreeforgeneraluse.Thepublishermakesnorepresentation,expressorimplied,withregardtotheaccuracyoftheinformationcontainedinthisbookandc

6、annotacceptanylegalresponsibilityorliabilityforanyerrorsoromissionsthatmaybemade.Coverdesign:eStudioCalamar,Figueres/BerlinPrintedonacid-freepaperSpringerispartofSpringerScience+BusinessMedia(www.springer.com)toStefania,toDaniela,toValeria,toEmilPrefaceMechanismsandrobo

7、tshavebeenandcontinuetobeessentialcomponentsofme-chanicalsystems.Mechanismsandrobotsareusedtotransmitforcesandmomentsandtomanipulateobjects.AknowledgeofthekinematicsanddynamicsoftheseRkinematicchainsismostimportantfortheirdesignandcontrol.MATLABisamoderntoolthathastran

8、sformedthemathematicalcalculationsmethodsbecauseMATLABnotonlyprovidesnumericalcalculationsbutalsofacilitatesan