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Robotic manipulators are becoming increasingly important in research and industry, and an understanding of statics and kinematics is essential to solving problems of robotics. This book, written by an eminent researcher and practitioner, provides a thorough introduction to statics and first order instantaneous kinematics with applications to robotics. The emphasis is on serial and parallel planar manipulators and mechanisms. The text differs from others in that it is based solely upon the concepts of classical geometry. It is the first to describe how to introduce linear springs into the connectors of parallel manipulators and to provide a proper geometric method for controlling the force and motion of a rigid lamina. Both students and practising engineers will find this book easy to follow, with a clearly written text and abundant illustrations, as well as exercises and real-world projects to work on.
Table of contents:
1. A displacement analysis of planar robot manipulators; 2. Planar statics; 3. First order instantaneous planar kinematics; 4. Dualities of parallel and serial devices; 5. A stiffness mapping for a parallel manipulator.
An understanding of statics and kinematics is essential to solving problems of robotic manipulators. The emphasis here is on serial and parallel planar manipulators and mechanisms, using the concepts of classical geometry. Students and practising engineers will find this book easy to use, with abundant exercises and real-world projects to work on.
A thorough introduction to statics and first order instantaneous kinematics with applications to robotics.
Table of contents:
1. A displacement analysis of planar robot manipulators; 2. Planar statics; 3. First order instantaneous planar kinematics; 4. Dualities of parallel and serial devices; 5. A stiffness mapping for a parallel manipulator.
An understanding of statics and kinematics is essential to solving problems of robotic manipulators. The emphasis here is on serial and parallel planar manipulators and mechanisms, using the concepts of classical geometry. Students and practising engineers will find this book easy to use, with abundant exercises and real-world projects to work on.
A thorough introduction to statics and first order instantaneous kinematics with applications to robotics.