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Screw Theory and its Application to Spatial Robot Manipulators

By: III Carl D. Crane Michael Griffis Joseph Duffy (Author)

Ksh 19,800.00
Format :

Format(s): DRM PDF

ISBN-13: 9781009301763

Publisher: Cambridge University Press

Imprint: Cambridge University Press

Publication Date: August 31st, 2022

Country of Publication: GB

Language: English

Physical Edition EAN: 9780521630894

Category: Technology, engineering, agriculture , Mechanical engineering & materials , Mechanical engineering , Dynamics & vibration

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  • Description

  • Author Bio

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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