Jaime Gallardo-Alvarado, José Gallardo-Razo

Mechanisms (eBook, ePUB)

Kinematic Analysis and Applications in Robotics

• Format: ePub

Produktbeschreibung

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.

• Presents an organized review of general mathematical methods and classical concepts of the theory of mechanisms
• Introduces methods approaching time derivatives of arbitrary vectors employing general approaches based on the vector angular velocity concept introduced by Kane and Levinson
• Proposes a strategic approach not only in acceleration analysis but also to jerk analysis in an easy to understand and systematic way
• Explains kinematic analysis of serial and parallel manipulators by means of the theory of screws

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Produktdetails

• Verlag: Elsevier Science & Techn.
• Seitenzahl: 530
• Erscheinungstermin: 18. Juni 2022
• Englisch
• ISBN-13: 9780323953474
• Artikelnr.: 64203618

Autorenporträt

Jaime Gallardo-Alvarado received his Ph.D. degree from the Tecnológico Nacional de México in La Laguna. He is a member of the National System of Researchers of Mexico, and is currently a professor in the Department of Mechanical Engineering at the Tecnológico Nacional de México in Celaya. His areas of interest include kinematics and dynamics of rigid bodies, Lie algebras, screw theory, and robot kinematics. Dr. Gallardo-Alvarado is author of the book "Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory and has published more than 70 research papers in scientific journals.José Gallardo-Razo received his B.Sc. degree from the Tecnológico Nacional de México in Celaya. He is currently a Design Engineer in ZKW Mexico. His areas of interest cover kinematics, dynamics and control of robot manipulators, mechanical design, and CAD-CAE-CAM.

Inhaltsangabe

PART 1: INTRODUCTION 1.Overview of kinematics and its algebras 2. Overview
of mechanisms and robot manipulators
PART 2: MATHEMATICAL BACKGROUND 3. Linear algebra 4. The Lie algebra se(3)
of the Euclidean group SE(3) 5. Polynomial 6. Vector derivative
PART 3: GEOMETRY OF MECHANISMS 7. Generalities 8. Mobility of mechanisms
PART 4: DISPLACEMENT 9. Closed kinematic chains 10. Open kinematic chains
PART 5: VELOCITY 11. Angular velocity 12. Vectorial method 13. Graphical
method 14. Analytical method
PART 6: ACCELERATION 15. Angular acceleration 16. Vectorial method 17.
Analytical method
PART 7: ROBOTICS 18. Fundamentals of screw theory 19. Robot manipulators
APPENDIX A: Maple Sheets