Overview
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)
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Solved Exercises
Keywords
- Acceleration analysis by means of screw theory
- Accelerator
- Lie algebras applied to kinematics
- Original Gough platform
- Original Stewart platform
- Reduced acceleration state
- Semi-closed form solution
- Simplified forward kinematics of parallel manipulators
- Singularities of parallel manipulators
- Snap analysis
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
About the author
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