Finite and Instantaneous Screw Theory in Robotic Mechanism - Binbin Lian, Tao Sun, Shuofei Yang

Finite and Instantaneous Screw Theory in Robotic Mechanism (eBook)

Binbin Lian, Tao Sun, Shuofei Yang (Autoren)

eBook Download: PDF

2020 | 1st ed. 2020
XI, 404 Seiten
Springer Singapore (Verlag)
978-981-15-1944-4 (ISBN)

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.

Tao Sun holds a Ph.D. and is a Professor and Deputy Dean of the School of Mechanical Engineering, Tianjin University, China. He is also the Deputy Director of the Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, China. Professor Sun's current research focuses on mechanisms and robotics, parallel kinematic robots, bio-inspired robots, orthopedic surgery and rehabilitation robots. He has published 50 SCI cited journal papers.He has been the principle investigator of 16 national/provincial projects and holds 32 patents, and has won several awards for his work.

Shuofei Yang obtained his B.S. and Ph.D. degrees from Tianjin University, China, in 2011 and 2017, respectively. He is now a Research Associate in the Department of Industrial and Systems Engineering of The Hong Kong Polytechnic University, China. Dr. Yang's research interests include type synthesis, kinematics, and dynamics of robotic mechanisms. He has published 11 SCI cited journal papers and 1 EI cited journal paper.

Binbin Lian holds a Ph.D. and is now an Associate Professor at the School of Mechanical Engineering, Tianjin University, China. Her research interests include performance analysis, optimal design, accuracy improvement, control and application of robotic mechanisms. She has published 25 SCI cited journal papers. In addition, she holds 15 patents.

Erscheint lt. Verlag	13.2.2020
Reihe/Serie	Springer Tracts in Mechanical Engineering
Zusatzinfo	XI, 404 p. 150 illus., 81 illus. in color.
Sprache	englisch
Themenwelt	Technik ► Bauwesen
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
Schlagworte	Articulated Serial Robot • dynamic • Error Modeling • Finite Motion • Forward Kinematic • Hessian Matrix • Instantaneous Motion • Inverse Kinematic • Jacobian Matrix • Kinematic Calibration • motion pattern • Multi-Objective Optimization • parallel mechanism • parameter identification • parameter uncertainty • Performance Design • Robotic Mechanism • Twist and Wrench • Type Synthesis • Virtual Joint Method
ISBN-10	981-15-1944-7 / 9811519447
ISBN-13	978-981-15-1944-4 / 9789811519444

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