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Screw Theory and Its Application to Spatial Robot Manipulators
Carl D. Crane, IIIMichael GriffisJoseph Duffy
出版Cambridge University Press, 2022-08-31
主題Technology & Engineering / Engineering (General)Technology & Engineering / Mechanical
ISBN10093017649781009301763
URLhttp://books.google.com.hk/books?id=YUOGEAAAQBAJ&hl=&source=gbs_api
EBookSAMPLE
註釋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.