ice scraper platforms (MIT 2019).Figure 4.35 Modular robot systems.Figure 4.36 Design variables in modular robot platform based on ADT.Figure 4.37 The DH notation for spatial relations of two motion axes.Figure 4.38 Robot platform design I. (a) Rotary joint (0.07 × 0.07 × 0.14) ass...Figure 4.39 Robot platform design II. (a) Rotary joint (0.07 × 0.07 × 0.07). (...Figure 4.40 Robot platform design III. (a) Rotational joint assembly patterns:...Figure 4.41 Product platform techniques for standardization and reusability.Figure 4.42 Difference of morphological and topological changes. (a) Original ...Figure 4.43 Example of rotary actuator with many standardized parts or feature...Figure 4.44 Creating a feature, part, component, or configuration in a design ...Figure 4.45Figure 4.45 Example of gearbox models for design project 1.Figure 4.46Figure 4.46 Example of creating a custom design library for knowle...5 Chapter 5Figure 5.1 Forward engineering (FE) and reverse engineering (RE).Figure 5.2 Part‐to‐CAD and CAD‐to‐part processes in RE. (a) Clay model. (b) Sc...Figure 5.3 Correspondence of manipulator and human body. (a) Human being. (b) ...Figure 5.4 Example of inventions inspired by nature (Hennighausen and Roston 2...Figure 5.5 Digital modelling and re‐conception process in RE (Bernard et al. 2...Figure 5.6 Example of reverse engineering at different levels.Figure 5.7 Three phases of RE. (a) The first phase to create point cloud or po...Figure 5.8 Three types of point clouds (Chen et al. 2018). (a) Unorganized. (b...Figure 5.9 Steps in creating a parametric surface from a point cloud (Creaform...Figure 5.10 Critical tasks from data acquisition to reconstructed surface/mode...Figure 5.11 The procedure of surface reconstruction.Figure 5.12 A data point and its weights on the neighbouring nodes.Figure 5.13 Special cases of contouring tracking (Wikipedia 2019b).Figure 5.14 Classification of hardware systems for data acquisition.Figure 5.15 Examples of destructive and contact devices. (a) Destructive scann...Figure 5.16 Meshed points from a contact device. (a) Physical object. (b) Mesh...Figure 5.17 Examples of active data acquisition systems. (a) Transmissive sens...Figure 5.18 Single‐point and line scanning methods (Boehler et al. 2002). (a) ...Figure 5.19 Using the time‐of‐flight concept to calculate distance.Figure 5.20 Example of the time‐of‐flight laser sensor (Sick 2019).Figure 5.21 An image example acquired by an interferometry sensor (www.capture...Figure 5.22 The idea of photogrammetry (Rajia and Fernandes 2008).Figure 5.23 Comparison of 3D scanning and camera for photogrammetry.Figure 5.24 Positioning methods in scanning. (a) Mechanical encoding. (b) Trac...Figure 5.25 Scanning paths and sensor types. (a) Single‐point scanning: ...Figure 5.26 Procedure and design factors in an automated CRP (Barnes et al. 20...Figure 5.27 Commercial and open‐source software tools for RE.Figure 5.28 Cloud‐service for an RE project by Autodesk Recap Pro. (a) Launchi...Figure 5.29 The steps of using Recap Pro for an RE project. (1) Capture suffic...Figure 5.30 Processing and exporting a polygonal model in Recap Pro. (a) Editi...Figure 5.31 Procedure of generating a parametrized solid model by ScanTo3D by ...Figure 5.32 Divide and conquer an assembled product in reverse engineering (Go...Figure 5.33 Examples of sequential operations after digital modelling in RE (G...Figure 5.34 Example of a CARE design project.
6 Chapter 6Figure 6.1 Multiple design constraints and criteria in optimization.Figure 6.2 Growing complexity of design of modern machines.Figure 6.3 Example of complexity growth of machine design. (a) Traditional mac...Figure 6.4 Main steps in a machine design process.Figure 6.5 Classification of links. (a) Binary link. (b) Quaternary link. (c) ...Figure 6.6 Free object and its degrees of freedom (DoF) of motion. (a) Six DoF...Figure 6.7 Classification of joints and the degrees of freedom of motion. (a) ...Figure 6.8 Classification of kinematic chains. (a) Open‐loop. (b) Closed loop....Figure 6.9 Examples of simple machines. (a) Package mover on an assembly bench...Figure 6.10 Mobility of a quick‐return mechanism. (a) Indexed links. (b) Index...Figure 6.11 Mobility of a pumping mechanism. (a) Indexed links. (b) Indexed jo...Figure 6.12 Mobility evaluation for industrial robots. (a) Articulated robot. ...Figure 6.13 Basic mechanisms of machine elements. (a) Eye‐bar type link (the l...Figure 6.14 Examples of 16 different four‐bar mechanisms in type synthesis. (a...Figure 6.15 Kinematic chains with 0, 1, and 2 DoFs, requiring 0, 1, and 2 inpu...Figure 6.16 Over‐actuated kinematic example.Figure 6.17 A position of particle in 2D and 3D space. (a) Particle P in the O...Figure 6.18 A line in 2D and 3D space. (a) Line A–B in the O‐XY plane. (...Figure 6.19 An object in 3D space. (a) Object in 3D space. (b) Correspondence ...Figure 6.20 A motion of a particle in 2D and 3D space. (a) In the O‐XY p...Figure 6.21 General motion of a link in 2D space.Figure 6.22 General motion of a body in 3D space. (a) Translation and rotation...Figure 6.23 Rotation along the axes of CS. (a) Rotation along the X‐axis. (b) ...Figure 6.24 Vector‐loop method for a four‐bar mechanism.Figure 6.25 A parametric model of a tripod system configuration. (a) System co...Figure 6.26 Kinematic constraints.Figure 6.27 D‐H convention from frame I – 1 to frame i.Figure 6.28 D‐H convention for a forward kinematic problem.Figure 6.29 Jacobian matrix for relation of velocities.Figure 6.30 D‐H convention for a forward kinematic problem.Figure 6.31 Structure of Puma 560.Figure 6.32 Inertia and moment of inertia of mass and body. (a) Inertia for li...Figure 6.33 Example of principal coordinate system.Figure 6.34 Newton and Euler laws. (a) Force causes linear acceleration (F = mFigure 6.35 Free‐Body‐Diagram (FBD) of link i in frame i.Figure 6.36 Mass centres and force analysis of a tripod mechanism.Figure 6.37 Joint accelerations.Figure 6.38 Joint forces calculated from the dynamic model.Figure 6.39 Discrepancy of theoretical and measured results of the joint force...Figure 6.40 Lagrangian formulation for dynamic modelling of a two DoF robot.Figure 6.41 Steps of using a computer aided tool in a virtual machine design.Figure 6.42 Main functional modules for a virtual machine design in SolidWorks...Figure 6.43 Mates in assembly modelling of SolidWorks. (a) Standard mates. (b)...Figure 6.44 Assembly modelling of an ABB yumi robot. (a) 14 joints (ABB 2018)....Figure 6.45 Create a Motion Study for a machine model. (a) Activate Motion in Figure 6.46 Types of motion variables in a Motion Study.Figure 6.47 Defining a motor in a SolidWorks Motion Study.Figure 6.48 Interfaces for the settings of a simulation model. (a) Activate Mo...Figure 6.49 Run simulation and visualize motion.Figure 6.50 Review the results of kinematic and dynamic variables. (a). Activa...Figure 6.51 Review the results of kinematic and dynamic variables.Figure 6.52 Mechanical event simulation in a motion analysis model.Figure 6.53 Example of a Motion Analysis design project. (a) Dimensions of th...
7 Chapter 7Figure 7.1 Example of unorganized machine shop.Figure 7.2 Manufacturing system model (Bi et al. 2008).Figure 7.3 Breakdown of costs for a manufactured product (Black 1991).Figure 7.4 Ideal system paradigm versus volumes and variations of products.Figure 7.5 Main components in a manufacturing system (Bi et al. 2008).Figure 7.6 Typical types of machine tools.Figure 7.7 Layout types of manufacturing systems.Figure 7.8 Functional or process layout.Figure 7.9 Product layout.Figure 7.10 Example of project shop (AQT Solution 2016; Song and Woo 2013).Figure 7.11 Example of continuous products (HIBA 2019).Figure 7.12 Cellular manufacturing layout.Figure 7.13 Example of flexible manufacturing system (O'Sullivan 2019; BrainKa...Figure 7.14 Classification of FMSs based on material flow layouts. (a) Progres...Figure 7.15 Scenario of distributed manufacturing (Mahdabi et al. 2007).Figure 7.16 Example of inappropriate part family by visual inspection. (a) Pla...Figure 7.17 Example of organizing products into families. (a) Unorganized prod...Figure 7.18 Examples of product families with and without the geometric simila...Figure 7.19 Comparative rankings for major parameters of sheet metal products ...Figure 7.20 Three types of coding structures (Askin and Standridge 1993).Figure 7.21 Hierarchical structure of a monocode.Figure 7.22 Details of a monocode.Figure 7.23 Example of using a coding system to code products. (a) Example of ...Figure 7.24 Example of converting a polycode scheme into digital representatio...Figure 7.25 Example of coding products by a polycode. (a) Car model. (b) Code ...Figure 7.26 Hybrid code example. (a) Polycode. (b) Monocode. (c) Polycode.Figure 7.27 Structure of the Opitze coding system.Figure 7.28 Product drawing for Example 7.5.Figure 7.29 Product drawings for Example 7.6. (a) Dimension. (b) 3D part view.Figure 7.30 Merging product features for a composite product. (a) Instance 1 (...Figure 7.31 Composite product for the determination of machines and tools. (a)...Figure 7.32 Potential benefits of implementing GT and CM.Figure 7.33 Product variants for Design Problem 7.4. (a) Chamber. (b) Through...
8 Chapter 8Figure 8.1 Typical tasks in process planning of discrete manufacturing.Figure 8.2 Discrepancy of actual and planned paths caused by the cutting force...Figure 8.3
