Mechanisms

Kinematic Analysis and Applications in Robotics
Erscheinungsjahr 2022
ISBN: 978-0-323-95348-1
Verlag: Elsevier Science & Technology

Buch, Englisch, 530 Seiten, Format (B × H): 237 mm x 194 mm, Gewicht: 1098 g

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.

Zielgruppe

<p>Engineers, and Researchers in the fields of mechanical, electrical, and automations engineering, robotics, aeronautics, kinematics, and theory of mechanisms.</p> <p>Undergraduate and graduate students</p>

Autoren/Hrsg.

Gallardo-Alvarado, Jaime

Gallardo-Razo, José

Gallardo-Razo, Jose

Fachgebiete

• Technische Wissenschaften Maschinenbau | Werkstoffkunde Maschinenbau Konstruktionslehre, Bauelemente, CAD
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Technische Mechanik | Werkstoffkunde Statik, Dynamik, Kinetik, Kinematik
• Technische Wissenschaften Technik Allgemein Konstruktionslehre und -technik

Inhaltsverzeichnis

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

Über Autor(innen)

Gallardo-Razo, José
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.