Robot Analysis: The Mechanics of Serial and Parallel ManipulatorsComplete, state-of-the-art coverage of robot analysis This unique book provides the fundamental knowledge needed for understanding the mechanics of both serial and parallel manipulators. Presenting fresh and authoritative material on parallel manipulators that is not available in any other resource, it offers an in-depth treatment of position analysis, Jacobian analysis, statics and stiffness analysis, and dynamical analysis of both types of manipulators, including a discussion of industrial and research applications. It also features: * The homotopy continuation method and dialytic elimination method for solving polynomial systems that apply to robot kinematics * Numerous worked examples and problems to reinforce learning * An extensive bibliography offering many resources for more advanced study Drawing on Dr. Lung-Wen Tsai's vast experience in the field as well as recent research publications, Robot Analysis is a first-rate text for upper-level undergraduate and graduate students in mechanical engineering, electrical engineering, and computer studies, as well as an excellent desktop reference for robotics researchers working in industry or in government. |
What people are saying - Write a review
We haven't found any reviews in the usual places.
Contents
Position Analysis of Serial Manipulators | 54 |
Position Analysis of Parallel Manipulators | 116 |
Jacobian Analysis of Serial Manipulators | 169 |
Jacobian Analysis of Parallel Manipulators | 223 |
Statics and Stiffness Analysis | 260 |
Wrist Mechanisms | 298 |
TendonDriven Manipulators | 333 |
Dynamics of Serial Manipulators | 372 |
169 | 416 |
Common terms and phrases
acceleration actuator analysis angular velocity applied associated Assuming axes called center of mass compute condition configuration connected constraint coordinate defined degrees of freedom denotes derived described developed direction displacements dynamical effector elements end-effector energy equal equations equations of motion example exerted expressed FIGURE fixed frame follows forces formulation function gear given hand Hence independent inertia inertia matrix input inverse kinematics Jacobian matrix joint axis joint torques kinematic limb linear link frame manipulator matrix mechanism method moving platform obtain orientation origin output pair parallel manipulator planar polynomial position position vector principle problem pulley reciprocal relative represent respect resulting revolute joint rigid body robot rotation screw shown in Fig shows singular solutions solve space spherical structure Substituting Eq tendon third transformation variables vector virtual wrist written yields
Bibliographic information
| Title | Robot Analysis: The Mechanics of Serial and Parallel Manipulators A Wiley-Interscience publication |
| Author | Lung-Wen Tsai |
| Edition | illustrated |
| Publisher | John Wiley & Sons, 1999 |
| ISBN | 0471325937, 9780471325932 |
| Length | 520 pages |
| Subjects | › Technology & Engineering / Manufacturing Technology & Engineering / Mechanical |
| Export Citation | BiBTeX EndNote RefMan |