Spatial Statics and Kinematics with Applications to Robot Manipulators

by Duffy, Joseph
ISBN: 9780521630894
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Overview

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.
  • Format: Hardcover
  • Author: Duffy, Joseph
  • ISBN: 9780521630894
  • Condition: New
  • Publication Year: 2022
Language: English