Screw Theory and Its Application to Spatial Robot Manipulators (Hardcover) (ISBN-13: 9780521630894)

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.

Author: Carl D. III Crane, Michael Griffis, Joseph Duffy
ISBN-10: 0521630894
ISBN-13: 9780521630894
Publisher: Cambridge University Press
Language: English
Published: 09/15/2022
Pages: 224
Format: Hardcover
Weight: 1.23lbs
Size: 9.61h x 6.69w x 0.56d