Title: Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
Publisher: Springer
Publication Date: 2016
Language: English
ISBN 10: 3319311247
ISBN 13: 9783319311241
Binding: Hardcover
Condition: New

About this title

Synopsis

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.

About the Author

Dr. Jaime Gallardo-Alvarado is Professor in the Department of Mechanical Engineering,Instituto Tecnologico de Celaya, TNM, Mexico

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