21st Century Kinematics: The 2012 NSF Workshop

21st Century Kinematics: The 2012 NSF Workshop


21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, it takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past.
The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will provide admirable supporting theory for a graduate course in modern kinematics and should be of considerable interest to researchers in mechanical design, robotics or protein kinematics or who have a broader interest in algebraic geometry and its applications.

Table of contents

Front Matter....Pages I-XIII
Polynomials, Computers, and Kinematics for the 21st Century....Pages 1-12
Kinematic Synthesis....Pages 13-48
Synthesis of Spatial Mechanisms to Model Human Joints....Pages 49-84
Kinematics and Algebraic Geometry....Pages 85-123
Applying Numerical Algebraic Geometry to Kinematics....Pages 125-159
The Kinematics of 3-D Cable-Towing Systems....Pages 161-188
Compliant Mechanisms....Pages 189-216
Protein Molecules: Evolutions Design for Kinematic Machines....Pages 217-244


  • Author: J. Michael McCarthy (auth.), J. Michael McCarthy (eds.)
  • Edition: 1
  • Publication Date: 2013
  • Publisher: Springer-Verlag London
  • ISBN-13: 9781447145097, 9781447145103
  • Pages: 250
  • Format: pdf
  • Size: 5.2M
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