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. |
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 |
Common terms and phrases
2-dof manipulator a₁ acceleration analysis angular velocity ASME axes b₁ center of mass compute constraint coordinate frame coordinate system defined degrees of freedom denotes derived dynamical equations effector end-effector output force epicyclic gear equations of motion FIGURE fixed base fixed frame fundamental circuit gear pairs Hence inertia matrix input links inverse dynamics inverse kinematics ith limb ith link frame Jacobian matrix joint angles joint axis joint torques Lagrangian linear manipulator shown mass of link Mech method moving frame moving link moving platform Newton-Euler obtain parallel manipulator parameters planar position vector prismatic joint pulley reaction forces reciprocal screws reference frame respect resulting revolute joint rigid body robot manipulators rotation matrix schematic screw axis serial manipulator shown in Fig solutions solve spherical joint Stewart-Gough platform structure matrix Substituting Eq tendon tendon forces tendon-driven manipulators Tsai unit vector Utah/MIT virtual displacement wrist center wrist mechanism yields