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Manipulators (Mechanism) --- Robots --- Kinematics of robots --- Robot kinematics --- Machinery, Kinematics of --- Mechanical manipulators --- Robots, Industrial --- Kinematics.

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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.

Engineering. --- Continuum mechanics. --- Machinery. --- Robotics. --- Automation. --- Machinery and Machine Elements. --- Robotics and Automation. --- Continuum Mechanics and Mechanics of Materials. --- Robots --- Screws, Theory of. --- Kinematics. --- Kinematics of robots --- Robot kinematics --- Cylindroid --- Dynamics, Rigid --- Geometry, Non-Euclidean --- Kinematics --- Machinery, Kinematics of --- Mechanics. --- Mechanics, Applied. --- Solid Mechanics. --- Applied mechanics --- Engineering, Mechanical --- Engineering mathematics --- Classical mechanics --- Newtonian mechanics --- Physics --- Dynamics --- Quantum theory --- Construction --- Industrial arts --- Technology --- Automatic factories --- Automatic production --- Computer control --- Engineering cybernetics --- Factories --- Industrial engineering --- Mechanization --- Assembly-line methods --- Automatic control --- Automatic machinery --- CAD/CAM systems --- Robotics --- Automation --- Machine theory --- Machinery --- Machines --- Manufactures --- Power (Mechanics) --- Mechanical engineering --- Motors --- Power transmission --- Curious devices

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The book deals with kinematics of mechanisms. It focuses on a solid theoretical foundation and on mathematical methods applicable to the solution of problems of very diverse nature. Applications are demonstrated in a large number of fully worked-out problems.  In kinematics a wide variety of mathematical tools is applicable. In this book, wherever possible vector equations are formulated instead of lengthy scalar coordinate equations. The principle of transference is applied to problems of very diverse nature. 15 chapters of the book are devoted to spatial kinematics and three chapters to planar kinematics. In Chapt. 19 nonlinear dynamics equations of motion are formulated for general spatial mechanisms. Nearly one half of the book is dealing with position theory and the other half with motion. The book is intended for use as reference book for researchers and as textbook in advanced courses on kinematics of mechanisms.

Civil Engineering --- Civil & Environmental Engineering --- Engineering & Applied Sciences --- Kinematics. --- Mathematics --- Mechanics --- Motion --- Vibration. --- Mechanics. --- Mechanics, Applied. --- Vibration, Dynamical Systems, Control. --- Solid Mechanics. --- Classical Mechanics. --- Applied mechanics --- Engineering, Mechanical --- Engineering mathematics --- Classical mechanics --- Newtonian mechanics --- Physics --- Dynamics --- Quantum theory --- Cycles --- Sound --- Dynamical systems. --- Dynamics. --- Dynamical systems --- Kinetics --- Mechanics, Analytic --- Force and energy --- Statics

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This master’s thesis presents a novel approach to finding trajectories with minimal end time for kinematically redundant manipulators. Emphasis is given to a general applicability of the developed method to industrial tasks such as gluing or welding. Minimum-time trajectories may yield economic advantages as a shorter trajectory duration results in a lower task cycle time. Whereas kinematically redundant manipulators possess increased dexterity, compared to conventional non-redundant manipulators, their inverse kinematics is not unique and requires further treatment. In this work a joint space decomposition approach is introduced that takes advantage of the closed form inverse kinematics solution of non-redundant robots. Kinematic redundancy can be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths. Contents NURBS Curves Modeling: Kinematics and Dynamics of Redundant Robots Approaches to Minimum-Time Trajectory Planning Joint Space Decomposition Approach Examples for Applications of Robots Target Groups Lecturers and Students of Robotics and Automation Industrial Developers of Trajectory Planning Algorithms The Author Alexander Reiter is a Senior Scientist at the Institute of Robotics of the Johannes Kepler University Linz in Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots.

Mechanical Engineering - General --- Mechanical Engineering --- Engineering & Applied Sciences --- Machinery, Kinematics of. --- Kinematics of machinery --- Machinery, Dynamics of --- Mechanical movements --- Engineering mathematics. --- Mechanics, applied. --- Control, Robotics, Mechatronics. --- Mathematical and Computational Engineering. --- Theoretical and Applied Mechanics. --- Applied mechanics --- Engineering, Mechanical --- Engineering mathematics --- Engineering --- Engineering analysis --- Mathematical analysis --- Mathematics --- Control engineering. --- Robotics. --- Mechatronics. --- Applied mathematics. --- Mechanics. --- Mechanics, Applied. --- Mechanical engineering --- Microelectronics --- Microelectromechanical systems --- Automation --- Machine theory --- Control engineering --- Control equipment --- Control theory --- Engineering instruments --- Programmable controllers --- Classical mechanics --- Newtonian mechanics --- Physics --- Dynamics --- Quantum theory --- Automation. --- Control, Robotics, Automation. --- Mathematical and Computational Engineering Applications. --- Engineering Mechanics. --- Data processing. --- Automatic factories --- Automatic production --- Computer control --- Engineering cybernetics --- Factories --- Industrial engineering --- Mechanization --- Assembly-line methods --- Automatic control --- Automatic machinery --- CAD/CAM systems --- Robotics