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Screw Theory and Its Application to Spatial Robot Manipulators
- Publication Year :
- 2022
-
Abstract
- Discover a fresh take on classical screw theory and understand the geometry embedded within robots and mechanisms with this essential text. The book begins with a geometrical study of points, lines, and planes and slowly takes the reader toward a mastery of screw theory with some cutting-edge results, all while using only basic linear algebra and ordinary vectors. It features a discussion of the geometry of parallel and serial robot manipulators, in addition to the reciprocity of screws and a singularity study. All 41 essential screw systems are unveiled, establishing the possible freedom twists and constraint wrenches for a kinematic joint. Familiarizing the reader with screw geometry in order to study the statics and kinematics of robots and mechanisms, this is a perfect resource for engineers and graduate students.
- Subjects :
- Screws, Theory of
Robotics--Mathematics
Manipulators (Mechanism)--Mathematics
Subjects
Details
- Language :
- English
- ISBNs :
- 9780521630894 and 9781009301763
- Database :
- eBook Index
- Journal :
- Screw Theory and Its Application to Spatial Robot Manipulators
- Publication Type :
- eBook
- Accession number :
- 3341818