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Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory.

Author: Jaime Gallardo-Alvarado
Publisher: Cham : Springer International Publishing, 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...
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Genre/Form: Electronic books
Additional Physical Format: Print version:
Gallardo-Alvarado, Jaime.
Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory.
Cham : Springer International Publishing, ©2016
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Jaime Gallardo-Alvarado
ISBN: 9783319311265 3319311263
OCLC Number: 952247905
Notes: 14.2 Description of the Delta Robot.
Description: 1 online resource (389 pages)
Contents: Intro; Preface; Acknowledgments; Contents; List of Tables; List of Figures; Part I General Introduction; Part II Fundamentals of the Theory of Screws; Part III Higher-Order Kinematic Analyses of Rigid Body; Part IV Kinematics of Parallel Manipulators by Means of Screw Theory Exemplified; Part V Emblematic Parallel Manipulators; Part VI Solved Exercises; Index; 1 An Overview of the Theory of Screws; 2 An Overview of Parallel Manipulators; 3 Mathematical Background; 4 Velocity Analysis; 5 Acceleration Analysis; 6 Jerk Analysis; 7 Hyper-Jerk Analysis; 8 3R2T Parallel Manipulator. 9 Two-Degree-of-Freedom Parallel Wrist10 3-RRPS Parallel Manipulator; 11 3RRRS+3RRPS Parallel Manipulator; 12 Gough's Tyre Testing Machine; 13 The Original Stewart Platform; 14 Delta Robot; 15 Full Answers to Selected Exercises; 16 Appendix 1: A Simple Method to Compute the Rotation Matrix; 17 Appendix 2: Computer Codes; 1.1 The Theory of Screws: Historical Contributions; 1.2 Notable Scientists in Screw Theory; References; 2.1 Typical Parallel Manipulators; References; 3.1 Introduction; 3.2 Preamble; 3.3 The Lie Algebra se(3) of the Euclidean Group SE(3); 3.4 Helicoidal Vector Fields. 3.5 ExercisesReferences; 4.1 Introduction; 4.2 Fundamental Equations of Velocity; 4.3 Equations of Velocity in Screw Form; 4.4 Exercises; References; 5.1 Introduction; 5.2 Fundamental Equations of Acceleration; 5.3 Equations of Acceleration in Screw Form; 5.4 Exercises; References; 6.1 Introduction; 6.2 Fundamental Jerk Equations; 6.3 Jerk Equations in Screw Form; 6.4 Exercises; References; 7.1 Introduction; 7.2 Fundamental Hyper-Jerk Equations; 7.3 Hyper-Jerk Equations in Screw Form; 7.4 Exercises; References; 8.1 Introduction; 8.2 Description of the 3R2T Parallel Manipulator. 8.3 Finite Kinematics of the 3R2T Robot8.4 Infinitesimal Kinematics of the 3R2T Robot; 8.5 Exercises; References; 9.1 Introduction; 9.2 Description of the Parallel Wrist; 9.3 Finite Kinematics of the Parallel Wrist; 9.4 Infinitesimal Kinematics of the Parallel Wrist; 9.5 Exercises; References; 10.1 Introduction; 10.2 Description of the 3-RRPS Parallel Manipulator; 10.3 Finite Kinematics of the 3-RRPS Manipulator; 10.4 Infinitesimal Kinematics of the 3-RRPS Manipulator; 10.5 Exercises; References; 11.1 Introduction; 11.2 Description of the 3RRRS+3RRPS Parallel Manipulator. 11.3 Finite Kinematics of the 3RRRS+3RRPS Parallel Manipulator11.4 Infinitesimal Kinematics of the 3RRRS+3RRPS Parallel Manipulator; 11.5 Exercises; References; 12.1 Introduction; 12.2 Description of the General Parallel Manipulator; 12.3 Finite Kinematics of the General Hexapod; 12.4 Infinitesimal Kinematics of the Six-Legged Parallel Manipulator; 12.5 Exercises; References; 13.1 Introduction; 13.2 Description of the Stewart Platform; 13.3 Finite Kinematics of the Stewart Platform; 13.4 Infinitesimal Kinematics of the Stewart Platform; 13.5 Exercises; References; 14.1 Introduction.

Abstract:

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

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