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.
1. Part 1: Introduction - p. xxvi 2. Chapter 1. Overview of kinematics and its algebras - p. 3 3. Chapter 2. Overview of mechanisms and robot manipulators - p. 17 4. Part 2: Mathematical background - p. 32 5. Chapter 3. Linear algebra - p. 35 6. The Lie algebra se(3)se(3) of the Euclidean group SE(3)SE(3) - p. 61 7. Chapter 5. Polynomial - p. 77 8. Chapter 6. Vector derivative - p. 97 9. Part 3: Geometry of mechanisms - p. 107 10. Chapter 7. Generalities - p. 111 11. Chapter 8. Mobility of mechanisms - p. 135 12. Part 4: Displacement - p. 159 13. Chapter 9. Closed kinematic chains - p. 163 14. Chapter 10. Open kinematic chains - p. 183 15. Part 5: Velocity - p. 212 16. Chapter 11. Angular velocity - p. 215 17. Chapter 12. Vectorial method - p. 237 18. Chapter 13. Graphical method - p. 261 19. Chapter 14. Analytical method - p. 279 20. Part 6: Acceleration - p. 309 21. Chapter 15. Angular acceleration - p. 313 22. Chapter 16. Vectorial method - p. 337 23. Abstract - p. 337 24. 16.1 Preamble - p. page337 25. 16.2 Acceleration of a particle - p. 338 26. 16.3 Relative acceleration in a rigid body - p. page341 27. 16.4 The three-body method - p. 344 28. 16.5 Jerk - p. page347 29. 16.6 Applications of the vectorial method - p. 352 30. Problems - p. page360 31. References - p. 364 32. Chapter 17. Analytical method - p. 365 33. Part 7: Robotics - p. 378 34. Chapter 18. Fundamentals of screw theory - p. 381 35. Abstract - p. 381 36. 18.1 Preamble - p. page381 37. 18.2 Velocity analysis in screw form - p. 393 38. 18.3 Acceleration analysis in screw form - p. 405 39. 18.4 Jerk analysis in screw form - p. 413 40. References - p. 420 41. Chapter 19. Robot manipulators - p. 421 42. Abstract - p. 421 43. 19.1 Preamble - p. page421 44. 19.2 3-RRR planar parallel manipulator - p. page432 45. 19.3 Gough-Stewart platform - p. 448 46. 19.4 SCARA robot - p. 459 47. 19.5 PUMA robot - p. 467 48. 19.6 Parallel manipulator with configurable platform - p. 474 49. References - p. 486 50. Appendix A. Maple sheets - p. 489 51. Index - p. 501
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.
1. Part 1: Introduction - p. xxvi 2. Chapter 1. Overview of kinematics and its algebras - p. 3 3. Chapter 2. Overview of mechanisms and robot manipulators - p. 17 4. Part 2: Mathematical background - p. 32 5. Chapter 3. Linear algebra - p. 35 6. The Lie algebra se(3)se(3) of the Euclidean group SE(3)SE(3) - p. 61 7. Chapter 5. Polynomial - p. 77 8. Chapter 6. Vector derivative - p. 97 9. Part 3: Geometry of mechanisms - p. 107 10. Chapter 7. Generalities - p. 111 11. Chapter 8. Mobility of mechanisms - p. 135 12. Part 4: Displacement - p. 159 13. Chapter 9. Closed kinematic chains - p. 163 14. Chapter 10. Open kinematic chains - p. 183 15. Part 5: Velocity - p. 212 16. Chapter 11. Angular velocity - p. 215 17. Chapter 12. Vectorial method - p. 237 18. Chapter 13. Graphical method - p. 261 19. Chapter 14. Analytical method - p. 279 20. Part 6: Acceleration - p. 309 21. Chapter 15. Angular acceleration - p. 313 22. Chapter 16. Vectorial method - p. 337 23. Abstract - p. 337 24. 16.1 Preamble - p. page337 25. 16.2 Acceleration of a particle - p. 338 26. 16.3 Relative acceleration in a rigid body - p. page341 27. 16.4 The three-body method - p. 344 28. 16.5 Jerk - p. page347 29. 16.6 Applications of the vectorial method - p. 352 30. Problems - p. page360 31. References - p. 364 32. Chapter 17. Analytical method - p. 365 33. Part 7: Robotics - p. 378 34. Chapter 18. Fundamentals of screw theory - p. 381 35. Abstract - p. 381 36. 18.1 Preamble - p. page381 37. 18.2 Velocity analysis in screw form - p. 393 38. 18.3 Acceleration analysis in screw form - p. 405 39. 18.4 Jerk analysis in screw form - p. 413 40. References - p. 420 41. Chapter 19. Robot manipulators - p. 421 42. Abstract - p. 421 43. 19.1 Preamble - p. page421 44. 19.2 3-RRR planar parallel manipulator - p. page432 45. 19.3 Gough-Stewart platform - p. 448 46. 19.4 SCARA robot - p. 459 47. 19.5 PUMA robot - p. 467 48. 19.6 Parallel manipulator with configurable platform - p. 474 49. References - p. 486 50. Appendix A. Maple sheets - p. 489 51. Index - p. 501
