Screw Theory For Spatial Robot Manipulators

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.

這本必讀的書籍提供了對傳統螺旋理論的新見解，並深入探討了機器人和機構中所嵌入的幾何學。書籍以對點、線和平面的幾何學研究為開端，並逐步引導讀者掌握螺旋理論，並介紹了一些尖端成果，同時僅使用基本的線性代數和普通向量。書中討論了平行和串聯機器人操縱器的幾何學，以及螺旋的互換性和奇異性研究。書中揭示了所有41個基本螺旋系統，確定了運動聯軸節的可能自由扭矩和約束力矩。通過熟悉螺旋幾何學，以研究機器人和機構的靜力學和運動學，這是工程師和研究生的完美資源。