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Screw Theory and its Application to Spatial Robot Manipulators

Screw Theory and its Application to Spatial Robot Manipulators

Screw Theory and its Application to Spatial Robot Manipulators

Carl D. Crane, III , University of Florida
Michael Griffis , University of Florida
Joseph Duffy , University of Florida
August 2022
This ISBN is for an eBook version which is distributed on our behalf by a third party.
Adobe eBook Reader
9781009301763
$140.00
USD
Adobe eBook Reader
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Hardback

    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.

    • Uses basic linear algebra and algebraic geometry to study screw theory based on its building blocks of points, lines, and planes
    • Emphasizes geometry to show a symmetry or a duality between the sciences of statics and kinematics
    • Provides a complete array of possibilities for proposing robot or mechanism movements and structures

    Product details

    August 2022
    Adobe eBook Reader
    9781009301763
    0 pages
    This ISBN is for an eBook version which is distributed on our behalf by a third party.

    Table of Contents

    • 1. Geometry of points, lines, and planes
    • 2. Coordinate transformations and manipulator kinematics
    • 3. Statics of a rigid body
    • 4. Velocity analysis
    • 5. Reciprocal screws
    • 6. Singularity analysis of serial chains
    • 7. Acceleration analysis of serially connected rigid bodies.
      Authors
    • Carl D. Crane, III

      Carl Crane is Professor in the Department of Mechanical and Aerospace Engineering at the University of Florida. He is a fellow of the ASME.

    • Michael Griffis

      Michael Griffis is Senior Lecturer at the University of Florida.

    • Joseph Duffy

      Joseph Duffy was a great kinematician who passionately promoted screw theory. He was the Director of the Center for Intelligent Machines and Robotics at the University of Florida and a Graduate Research Professor, who taught screw theory. He received countless awards, including the ASME Machine Design Award in 2000.

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