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Kinematics and Dynamics of Mechanical Systems, 3rd Edition
book

Kinematics and Dynamics of Mechanical Systems, 3rd Edition

by Kevin Russell, John Q. Shen, Raj Sodhi
December 2022
Intermediate to advanced content levelIntermediate to advanced
544 pages
14h 45m
English
CRC Press
Content preview from Kinematics and Dynamics of Mechanical Systems, 3rd Edition

11 Introduction to Robotic Manipulators

DOI: 10.1201/9781003316961-11

CONCEPT OVERVIEW

In this chapter, the reader will gain a central understanding regarding

  1. Distinctions and disadvantages of robotic manipulators in comparison to classical linkages
  2. Matrix-based formulation of displacement equation systems for Cartesian, cylindrical, spherical, articulated, and SCARA robots
  3. Forward kinematics of Cartesian, cylindrical, spherical, articulated, and SCARA robots
  4. Inverse kinematics and workspace of Cartesian, cylindrical, spherical, articulated, and SCARA robots

11.1 Introduction

As explained in Chapter 1 and demonstrated throughout this textbook, a linkage (also commonly called a mechanism) is an assembly of links and joints where the motion ...

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Publisher Resources

ISBN: 9781000803808