Screw Theory and Its Application to Spatial Robot Manipulators
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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.
Format:Hardcover
Language:English
ISBN:0521630894
ISBN13:9780521630894
Release Date:September 2022
Publisher:Cambridge University Press
Length:238 Pages
Weight:1.23 lbs.
Dimensions:0.6" x 6.7" x 9.6"
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