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Kinematic analysis of parallel manipulators by algebraic screw theory [electronic resource] / Jaime Gallardo-Alvarado.

Gallardo-Alvarado, Jaime, author.
2016
TJ211.412
Available Online
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Title
Kinematic analysis of parallel manipulators by algebraic screw theory [electronic resource] / Jaime Gallardo-Alvarado.
Author
Gallardo-Alvarado, Jaime, author.
ISBN
9783319311265 (electronic book)
3319311263 (electronic book)
9783319311241
DOI
https://doi.org/10.1007/978-3-319-31126-5
Published
Switzerland : Springer, 2016.
Language
English
Description
1 online resource (xxii, 377 pages) : color illustrations
Item Number
10.1007/978-3-319-31126-5 doi
Call Number
TJ211.412
Dewey Decimal Classification
629.8/92
Summary
This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators. Stands as the only book devoted to the acceleration, jerk and hyper-jerk (snap) analyses of rigid-body by means of screw theory; Provides new strategies to simplify the forward kinematics of parallel manipulators that can be easily implemented by non-experts in robot kinematics; Provides readers the opportunity to extend the theory of screws into the desired order of kinematic analysis in approaching open problems, e.g. the correct characterization of singularities in closed kinematic chains; Includes numerous end of chapter problems and solutions to illustrate concepts presented.
Bibliography, etc. Note
Includes bibliographical references and index.
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Access limited to authorized users.
Source of Description
Online resource; title from PDF title page (SpringerLink, viewed June 29, 2016).
Available in Other Form
Print version: 9783319311241
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Part 1. General Introduction
An Overview of the Theory of Screws
An Overview of Parallel Manipulators
Part 2. Fundamentals of the Theory of Screws
Mathematical Background
Velocity Analysis
Part 3. Higher-Order Kinematic Analyses of Rigid Body
Acceleration Analysis
Jerk Analysis
Hyper-Jerk Analysis
Part 4. Kinematics of Parallel Manipulators by Means of Screw Theory Exemplified
3R2T Parallel Manipulator
Two-Degrees-of-Freedom Parallel Wrist
3-RRPS Parallel Manipulator
3RRRS+3RRPS Parallel Manipulator
Part 5. Emblematic Parallel Manipulators
Tyre Testing Machine of Gough
The Original Stewart Platform
Delta Robot
Appendix A: Full Answers to Selected Exercises
Appendix B: A Simple Method to Compute the Rotation Matrix
Appendix C: Computer Codes
Appendix D: Animations of Novel Parallel Manipulators.

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