Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
Gallardo-Alvarado, Jaime
Produktnummer:
18c15003f870ba484abade9795084e73e5
| Autor: | Gallardo-Alvarado, Jaime |
|---|---|
| Themengebiete: | Acceleration analysis by means of screw theory Accelerator Lie algebras applied to kinematics Original Gough platform Original Stewart platform Reduced acceleration state Semi-closed form solution Simplified forward kinematics of parallel manipulators Singularities of parallel manipulators Snap analysis |
| Veröffentlichungsdatum: | 24.06.2016 |
| EAN: | 9783319311241 |
| Sprache: | Englisch |
| Seitenzahl: | 377 |
| Produktart: | Gebunden |
| Verlag: | Springer International Publishing |
Produktinformationen "Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory"
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.
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