Screw Theory and Its Application to Spatial Robot Manipulators - Hardcover

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

Hardcover

ISBN 10: 0521630894 ISBN 13: 9780521630894

Verlag: Cambridge University Press, 2022

Inhaltsangabe

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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Über die Autorinnen und Autoren

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.

Details zur Ausgabe

• Verlag: Cambridge University Press
• Erscheinungsdatum: 2022
• Sprache: Englisch
• ISBN 10: 0521630894
• ISBN 13: 9780521630894
• Einband: Tapa dura
• Anzahl der Seiten: 224
• Kontakt zum Hersteller: Nicht verfügbar
• Verantwortliche Person: Avery; https://www.avery.fr/; ; chemin des peupliers 27; Dardilly; Frankreich