000 03938nam a22004815i 4500
001 978-3-319-31126-5
003 DE-He213
005 20180206183119.0
007 cr nn 008mamaa
008 160616s2016 gw | s |||| 0|eng d
020 _a9783319311265
_9978-3-319-31126-5
050 4 _aTA213-215
072 7 _aTGBN
_2bicssc
072 7 _aTEC046000
_2bisacsh
082 0 4 _a621.8
_223
100 1 _aGallardo-Alvarado, Jaime.
_eauthor.
245 1 0 _aKinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
_h[recurso electrónico] /
_cby Jaime Gallardo-Alvarado.
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 _aEngineering.
650 0 _aContinuum mechanics.
650 0 _aMachinery.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aMachinery and Machine Elements.
650 2 4 _aRobotics and Automation.
650 2 4 _aContinuum Mechanics and Mechanics of Materials.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783319311241
856 4 0 _zLibro electrónico
_uhttp://148.231.10.114:2048/login?url=http://dx.doi.org/10.1007/978-3-319-31126-5
912 _aZDB-2-ENG
942 _cLIBRO_ELEC
999 _c227497
_d227497