Theory of mechanisms is an applied science of mechanics that studies the relationship between geometry, mobility, topology, and relative motion between rigid bodies connected by geometric forms. Recently, knowledge in kinematics and mechanisms has considerably increased, causing a renovation in the methods of kinematic analysis. With the progress of the algebras of kinematics and the mathematical methods used in the optimal solution of polynomial equations, it has become possible to formulate and elegantly solve problems.

Mechanisms: Kinematic Analysis and Applications in Robotics provides an updated approach to kinematic analysis methods and a review of the mobility criteria most used in planar and spatial mechanisms. Applications in the kinematic analysis of robot manipulators complement the material presented in the book, growing in importance when one recognizes that kinematics is a basic area in the control and modeling of robot manipulators.

Presents an organized review of general mathematical methods and classical concepts of the theory of mechanisms
Introduces methods approaching time derivatives of arbitrary vectors employing general approaches based on the vector angular velocity concept introduced by Kane and Levinson
Proposes a strategic approach not only in acceleration analysis but also to jerk analysis in an easy to understand and systematic way
Explains kinematic analysis of serial and parallel manipulators by means of the theory of screws

About the Authors

Jaime Gallardo-Alvarado received his Ph.D. degree from the Tecnol�gico Nacional de M�xico in La Laguna. He is a member of the National System of Researchers of Mexico, and is currently a professor in the Department of Mechanical Engineering at the Tecnol�gico Nacional de M�xico in Celaya. His areas of interest include kinematics and dynamics of rigid bodies, Lie algebras, screw theory, and robot kinematics. Dr. Gallardo-Alvarado is author of the book “Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory� and has published more than 70 research papers in scientific journals.

Jos� Gallardo-Razo received his B.Sc. degree from the Tecnol�gico Nacional de M�xico in Celaya. He is currently a Design Engineer in ZKW Mexico. His areas of interest cover kinematics, dynamics and control of robot manipulators, mechanical design, and CAD-CAE-CAM.

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