Screw Theory and its Application to Spatial Robot Manipulators

Crane III, Carl D., Griffis, Michael, Duffy, Joseph

ISBN 10: 0521630894 / ISBN 13: 9780521630894

Edité par Cambridge University Press, 2022

A propos de cet article

New.

N° de réf. du vendeur ERICA80005216308946

Détails bibliographiques

• Titre: Screw Theory and its Application to Spatial Robot Manipulators
• Éditeur: Cambridge University Press
• Date de parution: 2022
• Langue: anglais
• ISBN à 10 chiffres: 0521630894
• ISBN à 13 chiffres: 9780521630894
• Reliure: hardcover
• État de l'article: New
• Type de livre: book

A propos de ce titre

Synopsis

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.

À propos des auteurs

Carl Crane is Professor in the Department of Mechanical and Aerospace Engineering at the University of Florida. He is a fellow of the ASME.

Michael Griffis is Senior Lecturer at the University of Florida.

Joseph Duffy was a great kinematician who passionately promoted screw theory. He was the Director of the Center for Intelligent Machines and Robotics at the University of Florida and a Graduate Research Professor, who taught screw theory. He received countless awards, including the ASME Machine Design Award in 2000.