Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory (Record no. 78580)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 04210nam a22005535i 4500 |
| 001 - CONTROL NUMBER | |
| control field | 978-3-319-31126-5 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20220801220442.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 160616s2016 sz | s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER | |
| ISBN | 9783319311265 |
| -- | 978-3-319-31126-5 |
| 082 04 - CLASSIFICATION NUMBER | |
| Call Number | 621.8 |
| 100 1# - AUTHOR NAME | |
| Author | Gallardo-Alvarado, Jaime. |
| 245 10 - TITLE STATEMENT | |
| Title | Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory |
| 250 ## - EDITION STATEMENT | |
| Edition statement | 1st ed. 2016. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Number of Pages | XXII, 377 p. 96 illus. in color. |
| 505 0# - FORMATTED CONTENTS NOTE | |
| Remark 2 | 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. |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc | This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators. Stands as the only book devoted to the acceleration, jerk and hyper-jerk (snap) analyses of rigid-body by means of screw theory; Provides new strategies to simplify the forward kinematics of parallel manipulators that can be easily implemented by non-experts in robot kinematics; Provides readers the opportunity to extend the theory of screws into the desired order of kinematic analysis in approaching open problems, e.g. the correct characterization of singularities in closed kinematic chains; Includes numerous end of chapter problems and solutions to illustrate concepts presented. |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | https://doi.org/10.1007/978-3-319-31126-5 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | eBooks |
| 264 #1 - | |
| -- | Cham : |
| -- | Springer International Publishing : |
| -- | Imprint: Springer, |
| -- | 2016. |
| 336 ## - | |
| -- | text |
| -- | txt |
| -- | rdacontent |
| 337 ## - | |
| -- | computer |
| -- | c |
| -- | rdamedia |
| 338 ## - | |
| -- | online resource |
| -- | cr |
| -- | rdacarrier |
| 347 ## - | |
| -- | text file |
| -- | |
| -- | rda |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Machinery. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Robotics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Automation. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Mechanics, Applied. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Solids. |
| 650 14 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Machinery and Machine Elements. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control, Robotics, Automation. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Solid Mechanics. |
| 912 ## - | |
| -- | ZDB-2-ENG |
| 912 ## - | |
| -- | ZDB-2-SXE |
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