[...]... × 10 1 000* × 10 2 840 × 10 –2 008 × 10 1 000 × 10 –2 000* × 10 3 344 × 10 0 712 × 10 1 390 × 10 1 17 8 × 10 –2 788 × 10 2 788 × 10 1 320 × 10 –3 000* × 10 –3 320 × 10 0 000* × 10 3 818 × 10 0 000* × 10 1 848 × 10 1 333 × 10 –2 6 21 × 10 1 745 × 10 0 818 × 10 0 623 × 10 1 182 × 10 –3 818 × 10 0 303 × 10 –5 697 × 10 –2 999 × 10 2 6 21 × 10 1 373 × 10 1 022 × 10 –3 000* × 10 2 000* × 10 4 757 × 10 3 000* × 10 2 026 × 10 1 444 × 10 –3... 008 × 10 1 000* × 10 –2 894 × 10 –3 000* × 10 1 000* × 10 2 564 × 10 0 564 × 10 –2 19 8 × 10 1 297 × 10 0 329 × 10 –2 578 × 10 1 304 × 10 –2 304 × 10 2 600* × 10 –4 600* × 10 0 000* × 10 2 444 × 10 –3 3 91 × 10 1 003 × 10 3 000* × 10 4 3 91 × 10 –3 003 × 10 1 000* × 10 –4 818 × 10 0 848 × 10 1 000* × 10 1 333 × 10 –2 6 21 × 10 1 745 × 10 0 222 × 10 0 089 × 10 1 0593_C 01_ fm Page 10 Monday, May 6, 2002 1: 43 PM 10 Dynamics of Mechanical. .. lb/ft3 lb/ft3 lb/in.3 8.333 333 × 10 –2 5.6 81 818 × 10 –2 4.470 400* × 10 1 1.609 344 × 10 0 1. 466 667 × 10 0 1. 760 000* × 10 1 3.280 840 × 10 0 3.937 008 × 10 1 2.236 936 × 10 0 1. 000 000 × 10 2 3.600 000* × 10 0 9 .11 3 444 × 10 1 1.093 613 × 10 1 6. 213 712 × 10 1 2.777 777 × 10 1 1.570 670 × 10 2 5.787 037 × 10 –4 9.089 525 × 10 –2 1. 728 000* × 10 3 6.366 6 71 × 10 –3 1. 100 16 7 × 10 1 Note: cm, centimeters; deg, degrees;... Worth Publishers, New York, 19 68, pp 31 32 Baumeister, T., Avallone, E A., and Baumeister, T., III, Eds., Marks’ Standard Handbook for Mechanical Engineers, 8th ed., McGraw-Hill, 19 78, pp 1- 33 1- 39 0593_C 01_ fm Page 12 Monday, May 6, 2002 1: 43 PM 12 Dynamics of Mechanical Systems 1. 5 1. 6 1. 7 1. 8 1. 9 1. 10 1. 11 1 .12 1. 13 1. 14 1. 15 1. 16 1. 17 1. 18 1. 19 1. 20 1. 21 1.22 1. 23 1. 24 1. 25 Hsu, H P., Vector Analysis,... 3.048 1. 200 3 .10 5 3.280 3.937 1. 000 1. 018 8.333 2.540 2.540 2.587 3.280 3.937 1. 000 1. 018 3.220 3.864 9. 814 9. 814 1. 047 9.549 1. 745 5.729 9.290 9.290 6.4 51 6.4 51 1.440 6.944 1. 076 1. 550 1. 000 1. 076 1. 550 1. 000 1. 355 1. 129 1. 200 8.333 7.375 8.850 4.448 2.248 000* × 10 1 000* × 10 1 000* × 10 1 590 × 10 –2 840 × 10 0 008 × 10 1 000* × 10 2 894 × 10 1 333 × 10 –2 000* × 10 –2 000* × 10 0 992 × 10 –3 840 × 10 –2 008... 6 51 Problems .652 Chapter 19 Introduction to Robot Dynamics 6 61 19 .1 Introduction .6 61 19.2 Geometry, Configuration, and Degrees of Freedom 6 61 19.3 Transformation Matrices and Configuration Graphs .663 0593_ FM_fm Page 17 Tuesday, May 14 , 2002 10 :52 AM 19 .4 19 .5 19 .6 19 .7 19 .8 19 .9 19 .10 19 .11 19 .12 19 .13 19 .14 19 .15 19 .16 19 .17 19 .18 Angular Velocity of. .. 1. 200 2.540 2.540 8.333 3.280 3.937 1. 000 3.280 3.937 1. 000 5.280 1. 609 6. 213 1. 459 6.852 5 .15 3 5 .15 3 1. 940 1. 000 1. 940 1. 000 1. 355 1. 200 1. 129 8.333 7.375 8.850 1. 355 7.375 1. 818 1. 355 3.030 2.259 7.456 7.375 4.425 1. 3 41 5.500 3.300 6.894 1. 440 4.788 6.944 1. 450 2.088 3.048 3.048 1. 097 1. 200 6. 818 2.540 2.540 9 .14 4 000 × 10 1 000 × 10 1 000* × 10 1 000* × 10 –2 000* × 10 0 333 × 10 –2 839 × 10 0 008 × 10 1... 10 –3 000* × 10 2 000* × 10 4 757 × 10 3 000* × 10 2 026 × 10 1 444 × 10 –3 377 × 10 –4 543 × 10 –2 000* × 10 1 000* × 10 1 280* × 10 0 000* × 10 1 18 2 × 10 1 000* × 10 –2 000* × 10 0 000* × 10 –2 0593_C 01_ fm Page 11 Monday, May 6, 2002 1: 43 PM Introduction 11 TABLE 1. 7 .1 (CONTINUED) Conversion Factors between English and International Unit Systems To Convert from Velocity Weight density in./sec in./sec mi/hr (or... FM_fm Page 10 Tuesday, May 14 , 2002 10 :19 AM 0593_ FM_fm Page 11 Tuesday, May 14 , 2002 10 :19 AM Contents Chapter 1 Introduction 1 1 .1 Approach to the Subject 1 1.2 Subject Matter .1 1.3 Fundamental Concepts and Assumptions .2 1. 4 Basic Terminology in Mechanical Systems 3 1. 5 Vector Review .5 1. 6 Reference Frames and Coordinate Systems. .. 97 4 .10 Points Moving on a Rigid Body 10 3 4 .11 Rolling Bodies 10 6 4 .12 The Rolling Disk and Rolling Wheel 10 7 4 .13 A Conical Thrust Bearing .11 0 4 .14 Closure .11 3 References 11 3 Problems .11 4 Chapter 5 Planar Motion of Rigid Bodies — Methods of Analysis 12 5 5 .1 Introduction .12 5 5.2 Coordinates, . Coordinate Systems 6 1. 7 Systems of Units 9 1. 8 Closure 11 References 11 Problems 12 Chapter 2 Review of Vector Algebra 15 2 .1 Introduction 15 2.2 Equality of Vectors, Fixed and Free Vectors 15 2.3. Tube 369 11 .8 Forces That Do Not Contribute to the Generalized Forces 375 11 .9 Generalized Forces: Inertia (Passive) Forces 377 11 .10 Examples 379 11 .11 Potential Energy 389 11 .12 Use of Kinetic. 648 18 .17 Multibody Dynamics 650 18 .18 Closure 6 51 References 6 51 Problems 652 Chapter 19 Introduction to Robot Dynamics 6 61 19 .1 Introduction 6 61 19.2 Geometry, Configuration, and Degrees of