Mechanisms : Kinematic Analysis and Applications in Robotics (Emerging Methodologies and Applications in Modelling, Identification and Control)

Gallardo-Alvarado, Jaime/ Gallardo-Razo, José

Academic Press Inc（2022/06発売）

Academic Press Inc（2022/06発売）

• 製本 Paperback:紙装版/ペーパーバック版／ページ数 530 p.
• 言語 ENG
• 商品コード 9780323953481
• DDC分類 629.892

Full Description

Theory of mechanisms is an applied science of mechanics that studies the relationship between geometry, mobility, topology, and relative motion between rigid bodies connected by geometric forms. Recently, knowledge in kinematics and mechanisms has considerably increased, causing a renovation in the methods of kinematic analysis. With the progress of the algebras of kinematics and the mathematical methods used in the optimal solution of polynomial equations, it has become possible to formulate and elegantly solve problems.

Mechanisms: Kinematic Analysis and Applications in Robotics provides an updated approach to kinematic analysis methods and a review of the mobility criteria most used in planar and spatial mechanisms. Applications in the kinematic analysis of robot manipulators complement the material presented in the book, growing in importance when one recognizes that kinematics is a basic area in the control and modeling of robot manipulators.

Contents

PART 1: INTRODUCTION
1.Overview of kinematics and its algebras
2. Overview of mechanisms and robot manipulators

PART 2: MATHEMATICAL BACKGROUND
3. Linear algebra
4. The Lie algebra se(3) of the Euclidean group SE(3)
5. Polynomial
6. Vector derivative

PART 3: GEOMETRY OF MECHANISMS
7. Generalities
8. Mobility of mechanisms

PART 4: DISPLACEMENT
9. Closed kinematic chains
10. Open kinematic chains

PART 5: VELOCITY
11. Angular velocity
12. Vectorial method
13. Graphical method
14. Analytical method

PART 6: ACCELERATION
15. Angular acceleration
16. Vectorial method
17. Analytical method

PART 7: ROBOTICS
18. Fundamentals of screw theory
19. Robot manipulators

APPENDIX A: Maple Sheets