Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms

Preface

All machines are made of mechanisms. Before design, the degree of freedom of the end effector of a robot mechanism should first be determined, and then the actuation scheme can be investigated. Thus, it is the fundamental basis and prerequisite for structural analysis and synthesis to analyze the degree of freedom of the end effector of a mechanism. Structure analysis of a mechanism is focusing on proposing the structure principle of mechanisms, the classification of mechanisms, and their free motions. Meanwhile, structure analysis of mechanisms is an important aspect of kinematics, dynamics analysis and mechanism synthesis. The rapid development of science and technology calls for the creation and design of better mechanisms. Therefore, ...