Robot Analysis: The Mechanics of Serial and Parallel Manipulators

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John Wiley & Sons, Feb 22, 1999 - Technology & Engineering - 505 pages
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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.
 

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Contents

Position Analysis of Serial Manipulators
54
Position Analysis of Parallel Manipulators
116
Jacobian Analysis of Serial Manipulators
169
Jacobian Analysis of Parallel Manipulators
223
Statics and Stiffness Analysis
260
Wrist Mechanisms
298
TendonDriven Manipulators
333
Dynamics of Serial Manipulators
372
Dynamics Of Parallel Manipulators
424
APPENDIXES
457
B Sylvester Dialytic Elimination Method
473
List of Symbols
483
Index
499
Copyright

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About the author (1999)

LUNG-WEN TSAI, PhD, is a professor in the Department of Mechanical Engineering and the Institute for Systems Research at the University of Maryland in College Park, Maryland. He received his PhD from Stanford University in 1973 and has had an extensive career in engineering, education, and industry. He is a fellow of the ASME. An internationally recognized expert in automotive engineering, mechanisms and machine theory, and robot manipulators, he is well published in leading robotics journals, including numerous articles in the Journal of Robotics Systems (Wiley), the ASME Journal of Mechanical Design, and IEEE Transactions on Robotics and Automation.

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