TY - BOOK ID - 8211012 TI - Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory PY - 2016 SN - 3319311247 3319311263 PB - Cham : Springer International Publishing : Imprint: Springer, DB - UniCat KW - Engineering. KW - Continuum mechanics. KW - Machinery. KW - Robotics. KW - Automation. KW - Machinery and Machine Elements. KW - Robotics and Automation. KW - Continuum Mechanics and Mechanics of Materials. KW - Robots KW - Screws, Theory of. KW - Kinematics. KW - Kinematics of robots KW - Robot kinematics KW - Cylindroid KW - Dynamics, Rigid KW - Geometry, Non-Euclidean KW - Kinematics KW - Machinery, Kinematics of KW - Mechanics. KW - Mechanics, Applied. KW - Solid Mechanics. KW - Applied mechanics KW - Engineering, Mechanical KW - Engineering mathematics KW - Classical mechanics KW - Newtonian mechanics KW - Physics KW - Dynamics KW - Quantum theory KW - Construction KW - Industrial arts KW - Technology KW - Automatic factories KW - Automatic production KW - Computer control KW - Engineering cybernetics KW - Factories KW - Industrial engineering KW - Mechanization KW - Assembly-line methods KW - Automatic control KW - Automatic machinery KW - CAD/CAM systems KW - Robotics KW - Automation KW - Machine theory KW - Machinery KW - Machines KW - Manufactures KW - Power (Mechanics) KW - Mechanical engineering KW - Motors KW - Power transmission KW - Curious devices UR - https://www.unicat.be/uniCat?func=search&query=sysid:8211012 AB - 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. ER -