Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms, 1st Edition

  • Published By:
  • ISBN-10: 0124202233
  • ISBN-13: 9780124202238
  • DDC: 629.892
  • Grade Level Range: College Freshman - College Senior
  • 496 Pages | eBook
  • Original Copyright 2013 | Published/Released June 2014
  • This publication's content originally published in print form: 2013

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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.

Table of Contents

Front Cover.
Half Title Page.
Title Page.
Copyright Page.
1: Introduction.
2: A Brief Introduction to Screw Theory.
3: Twists and Wrenches of a Kinematic Chain.
4: Free Motion of the End Effector of a Robot Mechanism.
5: Workspace of the End Effector of a Robot Mechanism.
6: Singularity Analysis of the End Effector of a Mechanism Within Its Workspace.
7: Kinematics with Four Points’ Cartesian Coordinates for Spatial Parallel Manipulator.
8: Kinematics and Statics of Manipulators.
9: Fundamental Factors to Investigating the Motions and Actuations of a Mechanism.
10: Motion Characteristics of a Robotic Mechanism.
11: Mechanism Theory and Application of Deployable Structures Based on Scissor-Like Elements.
12: Structure Synthesis of Spatial Mechanisms.
13: Workspace Synthesis of Spatial Mechanisms.
14: Kinematic Synthesis of Spatial Mechanisms.