Robot Analysis: The Mechanics of Serial and Parallel Manipulators
Complete, state-of-the-art coverage of robot analysis
This unique book provides the fundamental knowledge needed for understanding the mechanics of both serial and parallel manipulators. Presenting fresh and authoritative material on parallel manipulators that is not available in any other resource, it offers an in-depth treatment of position analysis, Jacobian analysis, statics and stiffness analysis, and dynamical analysis of both types of manipulators, including a discussion of industrial and research applications. It also features:
* The homotopy continuation method and dialytic elimination method for solving polynomial systems that apply to robot kinematics
* Numerous worked examples and problems to reinforce learning
* An extensive bibliography offering many resources for more advanced study
Drawing on Dr. Lung-Wen Tsai's vast experience in the field as well as recent research publications, Robot Analysis is a first-rate text for upper-level undergraduate and graduate students in mechanical engineering, electrical engineering, and computer studies, as well as an excellent desktop reference for robotics researchers working in industry or in government.
What people are saying - Write a review
We haven't found any reviews in the usual places.
Position Analysis of Serial Manipulators
Position Analysis of Parallel Manipulators
Jacobian Analysis of Serial Manipulators
Jacobian Analysis of Parallel Manipulators
Statics and Stiffness Analysis
3-dof manipulator actuated joint angular velocity center of mass compute constraints coordinate frame coordinate system defined degrees of freedom denotes derived effector end-effector output force epicyclic gear equations of motion Euler angles expressed FIGURE fixed base fixed frame follows fundamental circuit gear pairs given Hence inertia matrix input links intersect inverse kinematics Jacobian matrix joint angles joint axis joint rates joint torques joint variables Lagrangian manipulator shown mass of link Mech method moving frame moving link moving platform obtain orientation parallel manipulator plane polynomial position vector prismatic joint pulley reaction forces reciprocal screws reference frame respect resulting revolute joint rigid body robot manipulators rotation matrix screw axis screw displacements serial manipulator shown in Fig singular configuration solutions spherical joint Stewart Platform Stewart-Gough platform structure matrix Substituting Eq tendon tendon forces th limb th link frame transformation matrix Tsai workspace wrist center wrist mechanism yields