Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
Springer International Publishing (Verlag)
978-3-319-31124-1 (ISBN)
Dr. Jaime Gallardo-Alvarado is Professor in the Department of Mechanical Engineering,Instituto Tecnologico de Celaya, TNM, Mexico
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.
Erscheinungsdatum | 08.10.2016 |
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Zusatzinfo | XXII, 377 p. 96 illus. in color. |
Verlagsort | Cham |
Sprache | englisch |
Maße | 155 x 235 mm |
Themenwelt | Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik |
Technik ► Elektrotechnik / Energietechnik | |
Technik ► Maschinenbau | |
Schlagworte | Acceleration analysis by means of screw theory • accelerator • Continuum Mechanics and Mechanics of Materials • Engineering • Lie algebras applied to kinematics • Machinery and Machine Elements • Original Gough platform • Original Stewart platform • Reduced acceleration state • Robotics and Automation • Semi-closed form solution • Simplified forward kinematics of parallel manipula • Simplified forward kinematics of parallel manipulators • Singularities of parallel manipulators • Snap analysis |
ISBN-10 | 3-319-31124-7 / 3319311247 |
ISBN-13 | 978-3-319-31124-1 / 9783319311241 |
Zustand | Neuware |
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