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Finite and Instantaneous Screw Theory in Robotic Mechanism

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Finite and Instantaneous Screw Theory in Robotic Mechanism/ by Tao Sun, Shuofei Yang, Binbin Lian.
Author:	Sun, Tao.
other author:	Yang, Shuofei.
Description:	XI, 404 p. 150 illus., 81 illus. in color.online resource. :
Contained By:	Springer Nature eBook
Subject:	Control engineering. -
Online resource:	https://doi.org/10.1007/978-981-15-1944-4
ISBN:	9789811519444

Finite and Instantaneous Screw Theory in Robotic Mechanism
Sun, Tao.

Finite and Instantaneous Screw Theory in Robotic Mechanism[electronic resource] /by Tao Sun, Shuofei Yang, Binbin Lian. - 1st ed. 2020. - XI, 404 p. 150 illus., 81 illus. in color.online resource. - Springer Tracts in Mechanical Engineering,2195-9862. - Springer Tracts in Mechanical Engineering,.

Introduction -- Finite and Instantaneous Screw Theory -- Topology and Performance Modeling of Robotic Mechanisms -- Type Synthesis Method and Procedures of Robotic Mechanisms -- Type Synthesis of Mechanisms with Invariable Rotation Axes -- Type Synthesis of Mechanisms with Variable Rotation Axes -- Kinematic Modeling and Analysis of Robotic Mechanisms -- Static Modeling and Analysis of Robotic Mechanisms -- Dynamic Modeling and Analysis of Robotic Mechanisms -- Optimal Design of Robotic Mechanisms -- Synthesis, Analysis and Design of typical robotic mechanisms -- Kinematic Calibration of Robotic Mechanisms -- References.

This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.

ISBN: 9789811519444

Standard No.: 10.1007/978-981-15-1944-4doiSubjects--Topical Terms:

1249728
Control engineering.

LC Class. No.: TJ210.2-211.495

Dewey Class. No.: 629.8

Finite and Instantaneous Screw Theory in Robotic Mechanism
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505 0 $a Introduction -- Finite and Instantaneous Screw Theory -- Topology and Performance Modeling of Robotic Mechanisms -- Type Synthesis Method and Procedures of Robotic Mechanisms -- Type Synthesis of Mechanisms with Invariable Rotation Axes -- Type Synthesis of Mechanisms with Variable Rotation Axes -- Kinematic Modeling and Analysis of Robotic Mechanisms -- Static Modeling and Analysis of Robotic Mechanisms -- Dynamic Modeling and Analysis of Robotic Mechanisms -- Optimal Design of Robotic Mechanisms -- Synthesis, Analysis and Design of typical robotic mechanisms -- Kinematic Calibration of Robotic Mechanisms -- References.
520 $a This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
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