Iii Carl D. Crane

Screw Theory and its Application to Spatial Robot Manipulators (eBook, PDF)

• Format: PDF

Produktbeschreibung

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.

---

Dieser Download kann aus rechtlichen Gründen nur mit Rechnungsadresse in A, B, BG, CY, CZ, D, DK, EW, E, FIN, F, GR, HR, H, IRL, I, LT, L, LR, M, NL, PL, P, R, S, SLO, SK ausgeliefert werden.

Produktdetails

• Verlag: Cambridge University Press
• Erscheinungstermin: 15. September 2022
• Englisch
• ISBN-13: 9781009301763
• Artikelnr.: 66177582

Autorenporträt

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

Inhaltsangabe

1. Geometry of points, lines, and planes
2. Coordinate transformations and manipulator kinematics
3. Statics of a rigid body
4. Velocity analysis
5. Reciprocal screws
6. Singularity analysis of serial chains
7. Acceleration analysis of serially connected rigid bodies.