000 04210nam a22005535i 4500
001 978-3-319-31126-5
003 DE-He213
005 20220801220442.0
007 cr nn 008mamaa
008 160616s2016 sz | s |||| 0|eng d
020 _a9783319311265
_9978-3-319-31126-5
024 7 _a10.1007/978-3-319-31126-5
_2doi
050 4 _aTA213-215
072 7 _aTGB
_2bicssc
072 7 _aTEC046000
_2bisacsh
072 7 _aTGB
_2thema
082 0 4 _a621.8
_223
100 1 _aGallardo-Alvarado, Jaime.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_950386
245 1 0 _aKinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
_h[electronic resource] /
_cby Jaime Gallardo-Alvarado.
250 _a1st ed. 2016.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2016.
300 _aXXII, 377 p. 96 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
505 0 _aPart 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 _aThis 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.
650 0 _aMachinery.
_931894
650 0 _aControl engineering.
_931970
650 0 _aRobotics.
_92393
650 0 _aAutomation.
_92392
650 0 _aMechanics, Applied.
_93253
650 0 _aSolids.
_93750
650 1 4 _aMachinery and Machine Elements.
_931895
650 2 4 _aControl, Robotics, Automation.
_931971
650 2 4 _aSolid Mechanics.
_931612
710 2 _aSpringerLink (Online service)
_950387
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9783319311241
776 0 8 _iPrinted edition:
_z9783319311258
776 0 8 _iPrinted edition:
_z9783319809694
856 4 0 _uhttps://doi.org/10.1007/978-3-319-31126-5
912 _aZDB-2-ENG
912 _aZDB-2-SXE
942 _cEBK
999 _c78580
_d78580