Screw Theory and its Application to Spatial Robot Manipulators PDF
by III Carl D. Crane, Michael Griffis, Joseph Duffy
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Description
Discover a fresh take on classical screw theory and understand the geometry embedded within robots and mechanisms with this essential text.
The book begins with a geometrical study of points, lines, and planes and slowly takes the reader toward a mastery of screw theory with some cutting-edge results, all while using only basic linear algebra and ordinary vectors. It features a discussion of the geometry of parallel and serial robot manipulators, in addition to the reciprocity of screws and a singularity study.
All 41 essential screw systems are unveiled, establishing the possible freedom twists and constraint wrenches for a kinematic joint.
Familiarizing the reader with screw geometry in order to study the statics and kinematics of robots and mechanisms, this is a perfect resource for engineers and graduate students.
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- Format:PDF
- Publisher:Cambridge University Press
- Publication Date:15/09/2022
- Category:
- ISBN:9781009301763
Information
-
Download Now
- Format:PDF
- Publisher:Cambridge University Press
- Publication Date:15/09/2022
- Category:
- ISBN:9781009301763