Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

• Κύριος συγγραφέας: Gallardo-Alvarado, Jaime (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2016.
• Θέματα: Engineering.; Continuum mechanics.; Machinery.; Robotics.; Automation.; Machinery and Machine Elements.; Robotics and Automation.; Continuum Mechanics and Mechanics of Materials.

This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the ma...

Πίνακας περιεχομένων:

• Part 1. General Introduction
• An Overview of the Theory of Screws
• An Overview of Parallel Manipulators
• Part 2. Fundamentals of the Theory of Screws
• Mathematical Background
• Velocity Analysis
• Part 3. Higher-Order Kinematic Analyses of Rigid Body
• Acceleration Analysis
• Jerk Analysis
• Hyper-Jerk Analysis
• Part 4. Kinematics of Parallel Manipulators by Means of Screw Theory Exemplified
• 3R2T Parallel Manipulator
• Two-Degrees-of-Freedom Parallel Wrist
• 3-RRPS Parallel Manipulator
• 3RRRS+3RRPS Parallel Manipulator
• Part 5. Emblematic Parallel Manipulators
• Tyre Testing Machine of Gough
• The Original Stewart Platform
• Delta Robot
• Appendix A: Full Answers to Selected Exercises
• Appendix B: A Simple Method to Compute the Rotation Matrix
• Appendix C: Computer Codes
• Appendix D: Animations of Novel Parallel Manipulators.