國立虎尾科技大學 |

Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory/ by Jaime Gallardo-Alvarado.
Author:	Gallardo-Alvarado, Jaime.
Description:	XXII, 377 p. 96 illus. in color.online resource. :
Contained By:	Springer Nature eBook
Subject:	Machinery. -
Online resource:	https://doi.org/10.1007/978-3-319-31126-5
ISBN:	9783319311265

Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
Gallardo-Alvarado, Jaime.

Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory[electronic resource] /by Jaime Gallardo-Alvarado. - 1st ed. 2016. - XXII, 377 p. 96 illus. in color.online resource.

Part 1. General Introduction -- An Overview of the Theory of Screws -- An Overview of Parallel Manipulators -- Part 2. Fundamentals of the Theory of Screws -- Mathematical Background -- Velocity Analysis -- Part 3. Higher-Order Kinematic Analyses of Rigid Body -- Acceleration Analysis -- Jerk Analysis -- Hyper-Jerk Analysis -- Part 4. Kinematics of Parallel Manipulators by Means of Screw Theory Exemplified -- 3R2T Parallel Manipulator -- Two-Degrees-of-Freedom Parallel Wrist -- 3-RRPS Parallel Manipulator -- 3RRRS+3RRPS Parallel Manipulator -- Part 5. Emblematic Parallel Manipulators -- Tyre Testing Machine of Gough -- The Original Stewart Platform -- Delta Robot -- Appendix A: Full Answers to Selected Exercises -- Appendix B: A Simple Method to Compute the Rotation Matrix -- Appendix C: Computer Codes -- Appendix D: Animations of Novel Parallel Manipulators.

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. Stands as the only book devoted to the acceleration, jerk and hyper-jerk (snap) analyses of rigid-body by means of screw theory; Provides new strategies to simplify the forward kinematics of parallel manipulators that can be easily implemented by non-experts in robot kinematics; Provides readers the opportunity to extend the theory of screws into the desired order of kinematic analysis in approaching open problems, e.g. the correct characterization of singularities in closed kinematic chains; Includes numerous end of chapter problems and solutions to illustrate concepts presented.

ISBN: 9783319311265

Standard No.: 10.1007/978-3-319-31126-5doiSubjects--Topical Terms:

990113
Machinery.

LC Class. No.: TA213-215

Dewey Class. No.: 621.8

Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
LDR:03643nam a22003975i 4500 001 973413
003 DE-He213
005 20200703012742.0
007 cr nn 008mamaa
008 201211s2016 gw | s |||| 0|eng d
020 $a 9783319311265 $9 978-3-319-31126-5
024 7 $a 10.1007/978-3-319-31126-5 $2 doi
035 $a 978-3-319-31126-5
050 4 $a TA213-215
072 7 $a TGBN $2 bicssc
072 7 $a TEC046000 $2 bisacsh
072 7 $a TGBN $2 thema
082 0 4 $a 621.8 $2 23
100 1 $a Gallardo-Alvarado, Jaime. $4 aut $4 http://id.loc.gov/vocabulary/relators/aut $3 1110341
245 1 0 $a Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory $h [electronic resource] / $c by Jaime Gallardo-Alvarado.
250 $a 1st ed. 2016.
264 1 $a Cham : $b Springer International Publishing : $b Imprint: Springer, $c 2016.
300 $a XXII, 377 p. 96 illus. in color. $b online resource.
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
347 $a text file $b PDF $2 rda
505 0 $a Part 1. General Introduction -- An Overview of the Theory of Screws -- An Overview of Parallel Manipulators -- Part 2. Fundamentals of the Theory of Screws -- Mathematical Background -- Velocity Analysis -- Part 3. Higher-Order Kinematic Analyses of Rigid Body -- Acceleration Analysis -- Jerk Analysis -- Hyper-Jerk Analysis -- Part 4. Kinematics of Parallel Manipulators by Means of Screw Theory Exemplified -- 3R2T Parallel Manipulator -- Two-Degrees-of-Freedom Parallel Wrist -- 3-RRPS Parallel Manipulator -- 3RRRS+3RRPS Parallel Manipulator -- Part 5. Emblematic Parallel Manipulators -- Tyre Testing Machine of Gough -- The Original Stewart Platform -- Delta Robot -- Appendix A: Full Answers to Selected Exercises -- Appendix B: A Simple Method to Compute the Rotation Matrix -- Appendix C: Computer Codes -- Appendix D: Animations of Novel Parallel Manipulators.
520 $a 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. Stands as the only book devoted to the acceleration, jerk and hyper-jerk (snap) analyses of rigid-body by means of screw theory; Provides new strategies to simplify the forward kinematics of parallel manipulators that can be easily implemented by non-experts in robot kinematics; Provides readers the opportunity to extend the theory of screws into the desired order of kinematic analysis in approaching open problems, e.g. the correct characterization of singularities in closed kinematic chains; Includes numerous end of chapter problems and solutions to illustrate concepts presented.
650 0 $a Machinery. $3 990113
650 0 $a Robotics. $3 561941
650 0 $a Automation. $3 596698
650 0 $a Mechanics. $3 527684
650 0 $a Mechanics, Applied. $3 596630
650 1 4 $a Machinery and Machine Elements. $3 670866
650 2 4 $a Robotics and Automation. $3 782979
650 2 4 $a Solid Mechanics. $3 1211586
710 2 $a SpringerLink (Online service) $3 593884
773 0 $t Springer Nature eBook
776 0 8 $i Printed edition: $z 9783319311241
776 0 8 $i Printed edition: $z 9783319311258
776 0 8 $i Printed edition: $z 9783319809694
856 4 0 $u https://doi.org/10.1007/978-3-319-31126-5
912 $a ZDB-2-ENG
912 $a ZDB-2-SXE
950 $a Engineering (SpringerNature-11647)
950 $a Engineering (R0) (SpringerNature-43712)