Description
Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms provides a complete analytical approach to the invention of new robot mechanisms and the analysis of existing designs based on a unified mathematical description of the kinematic and geometric constraints of mechanisms.Beginning with a high level introduction to mechanisms and components, the book moves on to present a new analytical theory of terminal constraints for use in the development of new spatial mechanisms and structures. It clearly describes the application of screw theory to kinematic problems and provides tools that students, engineers and researchers can use for investigation of critical factors such as workspace, dexterity and singularity.- Combines constraint and free motion analysis and design, offering a new approach to robot mechanism innovation and improvement- Clearly describes the use of screw theory in robot kinematic analysis, allowing for concise representation of motion and static forces when compared to conventional analysis methods- Includes worked examples to translate theory into practice and demonstrate the application of new analytical methods to critical robotics problems
Table of Contents
Chapter 1: Introduction (Mechanisms and Components)Chapter 2: Primary Theory of Reciprocal ScrewsChapter 3: Twists and Wrenches of a Kinematic ChainChapter 4: Free Motion of the End-Effector of a Robotic MechanismChapter 5: Workspace of the End-Effector of a Robotic MechanismChapter 6: Singularity Analysis of the End-Effector of a Mechanism within Its WorkspaceChapter 7: Kinematics with Four Point Cartesian Coordinates for Spatial Parallel ManipulatorChapter 8: Kinematics and Statics of Robot MechanismsChapter 9: The Motion Characteristics of a Robot Mechanism within its WorkspaceChapter 10: Fundamental Factors to Investigating the Motions and Actuations of a MechanismChapter 11: The Mechanism Theory and Application of Deployable Structures Based on SLEChapter 12: Structure Synthesis of Spatial MechanismsChapter 13: Workspace Synthesis of Spatial MechanismsChapter 14: Kinematic Synthesis of Spatial Mechanisms
