Geometric Methods in Robotics and Mechanism Research

This book presents the most recent research advances in the theory, design, and application of robotics and mechanisms. The topics cover Lie group theory based, screw theory based, and set theory based methods in type synthesis, kinematic and static analysis, and design of robotic mechanisms, especially parallel mechanisms. Innovative designs of parallel mechanism are obtained for pick and place applications, nano-manipulation, and surgical robots. The results should interest researchers, teachers, and students, in fields of engineering and mathematics related to robot theory, design, and application.

Yunjiang Lou (PhD, HKUST, 2006) is an Associate Professor with the Shenzhen Graduate School, Harbin Institute of Technology. His research interests include robotic mechanisms and control. Zexiang Li (PhD, UC Berkeley, 1989) is a Professor with the Dept. ECE, HKUST. His research interests include robotics, nonlinear system theory, and manufacturing.