Details

Autor(en) / Beteiligte

• Crane, Carl D
• Griffis, Mike
• Duffy, Joseph

Titel

Screw theory and its application to spatial robot manipulators

Ort / Verlag

Cambridge : Cambridge University Press

Erscheinungsjahr

2022

Link zum Volltext

• Cambridge University Press online books

Beschreibungen/Notizen

• 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.