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Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

  • Book
  • © 2016

Overview

Authors:
  1. Jaime Gallardo-Alvarado

    1. Department of Mechanical Engineering, Instituto Tecnologico de Celaya, Celaya, Mexico

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  • Stands as the only book devoted to the acceleration, jerk and hyper-jerk (snap) analyses of rigid-body by means of screw theory

  • Provides new strategies to simplify the forward kinematics of parallel manipulators that can be easily implemented by non-experts in robot kinematics

  • Provides readers the opportunity to extend the theory of screws into the desired order of kinematic analysis in approaching open problems, e.g. the correct characterization of singularities in closed kinematic chains

  • Includes numerous end of chapter problems and solutions to illustrate concepts presented

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Table of contents (17 chapters)

  1. Front Matter

    Pages i-xxii
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  2. General Introduction

    1. Front Matter

      Pages 1-1
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    2. An Overview of the Theory of Screws

      • Jaime Gallardo-Alvarado
      Pages 3-18

    3. An Overview of Parallel Manipulators

      • Jaime Gallardo-Alvarado
      Pages 19-28

  3. Fundamentals of the Theory of Screws

    1. Front Matter

      Pages 29-29
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    2. Mathematical Background

      • Jaime Gallardo-Alvarado
      Pages 31-63

    3. Velocity Analysis

      • Jaime Gallardo-Alvarado
      Pages 65-96

  4. Higher-Order Kinematic Analyses of Rigid Body

    1. Front Matter

      Pages 97-97
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    2. Acceleration Analysis

      • Jaime Gallardo-Alvarado
      Pages 99-132

    3. Jerk Analysis

      • Jaime Gallardo-Alvarado
      Pages 133-158

    4. Hyper-Jerk Analysis

      • Jaime Gallardo-Alvarado
      Pages 159-186

  5. Kinematics of Parallel Manipulators by Means of Screw Theory Exemplified

    1. Front Matter

      Pages 187-187
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    2. 3R2T Parallel Manipulator

      • Jaime Gallardo-Alvarado
      Pages 189-203

    3. Two-Degree-of-Freedom Parallel Wrist

      • Jaime Gallardo-Alvarado
      Pages 205-217

    4. 3-RRPS Parallel Manipulator

      • Jaime Gallardo-Alvarado
      Pages 219-235

    5. 3RRRS+3RRPS Parallel Manipulator

      • Jaime Gallardo-Alvarado
      Pages 237-252

  6. Emblematic Parallel Manipulators

    1. Front Matter

      Pages 253-253
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    2. Gough’s Tyre Testing Machine

      • Jaime Gallardo-Alvarado
      Pages 255-280

    3. The Original Stewart Platform

      • Jaime Gallardo-Alvarado
      Pages 281-299

    4. Delta Robot

      • Jaime Gallardo-Alvarado
      Pages 301-316
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Keywords

About this book

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 material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.

 

Authors and Affiliations

  • Department of Mechanical Engineering, Instituto Tecnologico de Celaya, Celaya, Mexico

    Jaime Gallardo-Alvarado

About the author

Dr. Jaime Gallardo-Alvarado is Professor in the Department of Mechanical Engineering,Instituto Tecnologico de Celaya, TNM, Mexico

Bibliographic Information

  • Book Title: Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

  • Authors: Jaime Gallardo-Alvarado

  • DOI: https://doi.org/10.1007/978-3-319-31126-5

  • Publisher: Springer Cham

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer International Publishing Switzerland 2016

  • Hardcover ISBN: 978-3-319-31124-1Published: 24 June 2016

  • Softcover ISBN: 978-3-319-80969-4Published: 31 May 2018

  • eBook ISBN: 978-3-319-31126-5Published: 16 June 2016

  • Edition Number: 1

  • Number of Pages: XXII, 377

  • Number of Illustrations: 96 illustrations in colour

  • Topics: Machinery and Machine Elements, Robotics and Automation, Solid Mechanics

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