Screw Theory and Its Application to Spatial Robot Manipulators

Erscheinungsjahr 2022
ISBN: 978-0-521-63089-4
Verlag: Cambridge University Press

Buch, Englisch, 238 Seiten, Format (B × H): 175 mm x 250 mm, Gewicht: 574 g

Discover a fresh take on classical screw theory and understand the geometry embedded within robots and mechanisms with this essential text. The book begins with a geometrical study of points, lines, and planes and slowly takes the reader toward a mastery of screw theory with some cutting-edge results, all while using only basic linear algebra and ordinary vectors. It features a discussion of the geometry of parallel and serial robot manipulators, in addition to the reciprocity of screws and a singularity study. All 41 essential screw systems are unveiled, establishing the possible freedom twists and constraint wrenches for a kinematic joint. Familiarizing the reader with screw geometry in order to study the statics and kinematics of robots and mechanisms, this is a perfect resource for engineers and graduate students.

Autoren/Hrsg.

Crane III, Carl D.

Griffis, Michael

Duffy, Joseph

Fachgebiete

• Technische Wissenschaften Maschinenbau | Werkstoffkunde Maschinenbau

Inhaltsverzeichnis

1. Geometry of points, lines, and planes; 2. Coordinate transformations and manipulator kinematics; 3. Statics of a rigid body; 4. Velocity analysis; 5. Reciprocal screws; 6. Singularity analysis of serial chains; 7. Acceleration analysis of serially connected rigid bodies.

Über Autor(innen)

Griffis, Michael
Michael Griffis is Senior Lecturer at the University of Florida.

Crane III, Carl D.
Carl Crane is Professor in the Department of Mechanical and Aerospace Engineering at the University of Florida. He is a fellow of the ASME.

Duffy, Joseph
Joseph Duffy was a great kinematician who passionately promoted screw theory. He was the Director of the Center for Intelligent Machines and Robotics at the University of Florida and a Graduate Research Professor, who taught screw theory. He received countless awards, including the ASME Machine Design Award in 2000.