skip to content
Kinematic analysis of parallel manipulators by algebraic screw theory Preview this item
ClosePreview this item
Checking...

Kinematic analysis of parallel manipulators by algebraic screw theory

Author: Jaime Gallardo-Alvarado
Publisher: Switzerland : Springer, 2016.
Edition/Format:   eBook : Document : EnglishView all editions and formats
Summary:
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  Read more...
Rating:

(not yet rated) 0 with reviews - Be the first.

Subjects
More like this

Find a copy online

Links to this item

Find a copy in the library

&AllPage.SpinnerRetrieving; Finding libraries that hold this item...

Details

Genre/Form: Electronic books
Additional Physical Format: Printed edition:
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Jaime Gallardo-Alvarado
ISBN: 9783319311265 3319311263 3319311247 9783319311241
OCLC Number: 951975146
Description: 1 online resource (xxii, 377 pages) : color illustrations
Contents: 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.
Responsibility: Jaime Gallardo-Alvarado.

Abstract:

This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs.  Read more...

Reviews

User-contributed reviews
Retrieving GoodReads reviews...
Retrieving DOGObooks reviews...

Tags

Be the first.
Confirm this request

You may have already requested this item. Please select Ok if you would like to proceed with this request anyway.

Linked Data


Primary Entity

<http://www.worldcat.org/oclc/951975146> # Kinematic analysis of parallel manipulators by algebraic screw theory
    a schema:Book, schema:MediaObject, schema:CreativeWork ;
   library:oclcnum "951975146" ;
   library:placeOfPublication <http://id.loc.gov/vocabulary/countries/sz> ;
   schema:about <http://dewey.info/class/629.892/e23/> ;
   schema:about <http://experiment.worldcat.org/entity/work/data/3234127811#Topic/robots_kinematics> ; # Robots--Kinematics
   schema:about <http://experiment.worldcat.org/entity/work/data/3234127811#Topic/technology_&_engineering_engineering_general> ; # TECHNOLOGY & ENGINEERING--Engineering (General)
   schema:about <http://experiment.worldcat.org/entity/work/data/3234127811#Topic/screws_theory_of> ; # Screws, Theory of
   schema:author <http://experiment.worldcat.org/entity/work/data/3234127811#Person/gallardo_alvarado_jaime> ; # Jaime Gallardo-Alvarado
   schema:bookFormat schema:EBook ;
   schema:datePublished "2016" ;
   schema:description "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. 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."@en ;
   schema:description "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."@en ;
   schema:exampleOfWork <http://worldcat.org/entity/work/id/3234127811> ;
   schema:genre "Electronic books"@en ;
   schema:inLanguage "en" ;
   schema:isSimilarTo <http://worldcat.org/entity/work/data/3234127811#CreativeWork/> ;
   schema:name "Kinematic analysis of parallel manipulators by algebraic screw theory"@en ;
   schema:productID "951975146" ;
   schema:url <https://login.libproxy.uregina.ca:8443/login?url=http://link.springer.com/openurl?genre=book&isbn=978-3-319-31124-1> ;
   schema:url <https://login.proxy.lib.strath.ac.uk/login?url=http://link.springer.com/10.1007/978-3-319-31126-5> ;
   schema:url <http://proxy.artic.edu/login?url=http://link.springer.com/10.1007/978-3-319-31126-5> ;
   schema:url <https://grinnell.idm.oclc.org/login?url=http://link.springer.com/10.1007/978-3-319-31126-5> ;
   schema:url <https://proxy1.library.eiu.edu/login?url=http://link.springer.com/10.1007/978-3-319-31126-5> ;
   schema:url <http://dx.doi.org/10.1007/978-3-319-31126-5> ;
   schema:url <http://sfx.carli.illinois.edu/sfxwhe/sfx_local?genre=book&sid=Voyager:WHE&sfx.ignore_date_threshold=1&svc.fulltext=yes&rft.isbn=978-3-319-31126-5> ;
   schema:url <http://www.myilibrary.com?id=933537> ;
   schema:url <http://link.springer.com/openurl?genre=book&isbn=978-3-319-31124-1> ;
   schema:url <https://login.libproxy.uregina.ca:8443/login?url=https://link.springer.com/openurl?genre=book&isbn=978-3-319-31124-1> ;
   schema:url <https://login.libproxy.noctrl.edu/login?url=http://link.springer.com/10.1007/978-3-319-31126-5> ;
   schema:url <http://search.ebscohost.com/login.aspx?direct=true&scope=site&db=nlebk&db=nlabk&AN=1203538> ;
   schema:url <http://er.llcc.edu:2048/login?url=http://link.springer.com/10.1007/978-3-319-31126-5> ;
   schema:url <https://0-link-springer-com.pugwash.lib.warwick.ac.uk/book/10.1007/978-3-319-31126-5> ;
   schema:workExample <http://worldcat.org/isbn/9783319311265> ;
   schema:workExample <http://dx.doi.org/10.1007/978-3-319-31126-5> ;
   schema:workExample <http://worldcat.org/isbn/9783319311241> ;
   wdrs:describedby <http://www.worldcat.org/title/-/oclc/951975146> ;
    .


Related Entities

<http://experiment.worldcat.org/entity/work/data/3234127811#Person/gallardo_alvarado_jaime> # Jaime Gallardo-Alvarado
    a schema:Person ;
   schema:familyName "Gallardo-Alvarado" ;
   schema:givenName "Jaime" ;
   schema:name "Jaime Gallardo-Alvarado" ;
    .

<http://experiment.worldcat.org/entity/work/data/3234127811#Topic/technology_&_engineering_engineering_general> # TECHNOLOGY & ENGINEERING--Engineering (General)
    a schema:Intangible ;
   schema:name "TECHNOLOGY & ENGINEERING--Engineering (General)"@en ;
    .

<http://link.springer.com/openurl?genre=book&isbn=978-3-319-31124-1>
   rdfs:comment "Springer eBooks (Engineering 2016)" ;
    .

<http://worldcat.org/entity/work/data/3234127811#CreativeWork/>
    a schema:CreativeWork ;
   schema:description "Printed edition:" ;
   schema:isSimilarTo <http://www.worldcat.org/oclc/951975146> ; # Kinematic analysis of parallel manipulators by algebraic screw theory
    .

<http://worldcat.org/isbn/9783319311241>
    a schema:ProductModel ;
   schema:isbn "3319311247" ;
   schema:isbn "9783319311241" ;
    .

<http://worldcat.org/isbn/9783319311265>
    a schema:ProductModel ;
   schema:isbn "3319311263" ;
   schema:isbn "9783319311265" ;
    .

<https://login.libproxy.uregina.ca:8443/login?url=http://link.springer.com/openurl?genre=book&isbn=978-3-319-31124-1>
   rdfs:comment "Full text available from SpringerLINK ebooks - Engineering (2016)" ;
    .

<https://login.libproxy.uregina.ca:8443/login?url=https://link.springer.com/openurl?genre=book&isbn=978-3-319-31124-1>
   rdfs:comment "Full text available from SpringerLINK ebooks - Engineering (2016)" ;
    .


Content-negotiable representations

Close Window

Please sign in to WorldCat 

Don't have an account? You can easily create a free account.