Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

Nonfiction, Science & Nature, Technology, Machinery, Robotics
Cover of the book Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory by Jaime Gallardo-Alvarado, Springer International Publishing
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Author: Jaime Gallardo-Alvarado ISBN: 9783319311265
Publisher: Springer International Publishing Publication: June 16, 2016
Imprint: Springer Language: English
Author: Jaime Gallardo-Alvarado
ISBN: 9783319311265
Publisher: Springer International Publishing
Publication: June 16, 2016
Imprint: Springer
Language: English

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.

 

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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.

 

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