Book description
Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms provides a complete analytical approach to the invention of new robot mechanisms and the analysis of existing designs based on a unified mathematical description of the kinematic and geometric constraints of mechanisms.
Beginning with a high level introduction to mechanisms and components, the book moves on to present a new analytical theory of terminal constraints for use in the development of new spatial mechanisms and structures. It clearly describes the application of screw theory to kinematic problems and provides tools that students, engineers and researchers can use for investigation of critical factors such as workspace, dexterity and singularity.
• Combines constraint and free motion analysis and design, offering a new approach to robot mechanism innovation and improvement.
• Clearly describes the use of screw theory in robot kinematic analysis, allowing for concise representation of motion and static forces when compared to conventional analysis methods.
• Includes worked examples to translate theory into practice and demonstrate the application of new analytical methods to critical robotics problems.
Table of contents
- Cover image
- Title page
- Table of Contents
- Copyright
- Preface
- Chapter 1. Introduction
-
Chapter 2. A Brief Introduction to Screw Theory
- Abstract
- 2.1 Plücker Vector
- 2.2 Rigid Body’s Motion Expression
- 2.3 Screw Expression of Motion and Force
- 2.4 Reciprocal Product of Screws and its Geometric Meaning
- 2.5 Linear Combinations of Screws and Principal Screws of a Screw System
- 2.6 Identification of Principal Screws of a Screw System
- 2.7 Conclusions
- References
- Chapter 3. Twists and Wrenches of a Kinematic Chain
-
Chapter 4. Free Motion of the End Effector of a Robot Mechanism
- Abstract
- 4.1 Free Motion Space and Constraint Space of Kinematic Chain
- 4.2 General Steps to Analyze the Degree of Freedom of the End Effector
- 4.3 Application of the Analytical Theory of the Degree of Freedom of the End Effector
- 4.4 The Equivalent Substitutions for Hybrid Kinematic Chains
- 4.5 Conclusions
- References
- Chapter 5. Workspace of the End Effector of a Robot Mechanism
- Chapter 6. Singularity Analysis of the End Effector of a Mechanism within Its Workspace
- Chapter 7. Kinematics with Four Points′ Cartesian Coordinates for Spatial Parallel Manipulator
- Chapter 8. Kinematics and Statics of Manipulators
- Chapter 9. Fundamental Factors to Investigating the Motions and Actuations of a Mechanism
- Chapter 10. Motion Characteristics of a Robotic Mechanism
- Chapter 11. Mechanism Theory and Application of Deployable Structures Based on Scissor-Like Elements
- Chapter 12. Structure Synthesis of Spatial Mechanisms
- Chapter 13. Workspace Synthesis of Spatial Mechanisms
-
Chapter 14. Kinematic Synthesis of Spatial Mechanisms
- Abstract
- 14.1 Kinematic Synthesis of a Spatial Parallel Manipulator With Three Pure Rotational Degrees of Freedom (DOFs)
- 14.2 Kinematics of a Spatial Parallel Manipulator With Two Rotational and One Translational DOF
- 14.3 Kinematic of the Suspension Mechanism with Invariable Orientation Parameters
- 14.4 Conclusions
- References
- Index
Product information
- Title: Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms
- Author(s):
- Release date: November 2013
- Publisher(s): Academic Press
- ISBN: 9780124202238
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