Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms
- 1st Edition - October 30, 2018
- Latest edition
- Authors: Jingshan Zhao, Zhijing Feng, Fulei Chu, Ning Ma
- Language: English
Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms provides a complete analytical approach to the invention of new robot mechanisms and the analysis of exis… Read more
Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms provides a complete analytical approach to the invention of new robot mechanisms and the analysis of existing designs based on a unified mathematical description of the kinematic and geometric constraints of mechanisms.
Beginning with a high level introduction to mechanisms and components, the book moves on to present a new analytical theory of terminal constraints for use in the development of new spatial mechanisms and structures. It clearly describes the application of screw theory to kinematic problems and provides tools that students, engineers and researchers can use for investigation of critical factors such as workspace, dexterity and singularity.
- Combines constraint and free motion analysis and design, offering a new approach to robot mechanism innovation and improvement
- Clearly describes the use of screw theory in robot kinematic analysis, allowing for concise representation of motion and static forces when compared to conventional analysis methods
- Includes worked examples to translate theory into practice and demonstrate the application of new analytical methods to critical robotics problems
Researchers, engineers and graduate students working on engineering design, robotics and automation
Preface
Chapter 1. Introduction
Abstract
1.1 Review of Mechanism
1.2 Contradiction Between Calculation and Practice of Mobility of Spatial Mechanism
1.3 Possible Causes for Contradiction between the Calculated DOF and the Actual One
1.4 Contents of the Book
References
Chapter 2. A Brief Introduction to Screw Theory
Abstract
2.1 Plücker Vector
2.2 Rigid Body’s Motion Expression
2.3 Screw Expression of Motion and Force
2.4 Reciprocal Product of Screws and its Geometric Meaning
2.5 Linear Combinations of Screws and Principal Screws of a Screw System
2.6 Identification of Principal Screws of a Screw System
2.7 Conclusions
References
Chapter 3. Twists and Wrenches of a Kinematic Chain
Abstract
3.1 Free Motions and the Constraints of a Kinematic Pair
3.2 Twists of Kinematic Chains
3.3 Theory of Reciprocal Screws
3.4 Conclusions
References
Chapter 4. Free Motion of the End Effector of a Robot Mechanism
Abstract
4.1 Free Motion Space and Constraint Space of Kinematic Chain
4.2 General Steps to Analyze the Degree of Freedom of the End Effector
4.3 Application of the Analytical Theory of the Degree of Freedom of the End Effector
4.4 The Equivalent Substitutions for Hybrid Kinematic Chains
4.5 Conclusions
References
Chapter 5. Workspace of the End Effector of a Robot Mechanism
Abstract
5.1 Workspace Based on Mobility Analysis
5.2 Symmetrical Characteristics of the Workspace for Spatial Parallel Mechanisms with Symmetric Structure
5.3 Applications of the Symmetrical Workspace Theorem
5.4 Conclusions
References
Chapter 6. Singularity Analysis of the End Effector of a Mechanism within Its Workspace
Abstract
6.1 Static Equilibrium Equations of the Parallel Manipulators
6.2 Symmetry of Singularity Distribution within the Reachable Workspace
6.3 Applications and Discussion
6.4 Conclusions
References
Chapter 7. Kinematics with Four Points′ Cartesian Coordinates for Spatial Parallel Manipulator
Abstract
7.1 Kinematics Model for Spatial Parallel Manipulators with Four Points′ Cartesian Coordinates
7.2 Forward Kinematics of Spatial Parallel Manipulators
7.3 Conclusions
References
Chapter 8. Kinematics and Statics of Manipulators
Abstract
8.1 Key Problems in Kinematics and Statics Analysis
8.2 Kinematics and Statics of Series Manipulators
8.3 Kinematics and Statics of Parallel Manipulators
8.4 Conclusions
References
Chapter 9. Fundamental Factors to Investigating the Motions and Actuations of a Mechanism
Abstract
9.1 The Basic Steps for Calculating the DOF of the Mechanism with a Prescribed End Effector
9.2 Actuation Schemes to Control of the Mechanism
9.3 Conclusions
References
Chapter 10. Motion Characteristics of a Robotic Mechanism
Abstract
10.1 Problems Existing in the Traditional Theories of DOF
10.2 Theory of DOF for the Mechanism with an End Effector
10.3 Proof of the Theory
10.4 Applications and Discussions
10.5 Conclusions
References
Chapter 11. Mechanism Theory and Application of Deployable Structures Based on Scissor-Like Elements
Abstract
11.1 Deployable Structures
11.2 Brief Review of Reciprocal Screw Theory Based on Exponential Production
11.3 Mechanism Theory of a Deployable Structure Unit
11.4 Applications of Deployable Structure Units
11.5 Conclusions
References
Chapter 12. Structure Synthesis of Spatial Mechanisms
Abstract
12.1 General Process of Mechanism Synthesis
12.2 Analysis of Structure Synthesis
12.3 Conclusion
References
Chapter 13. Workspace Synthesis of Spatial Mechanisms
Abstract
13.1 Theorem of Dexterous Workspace of Spatial Parallel Manipulator
13.2 Optimum Design of Spatial Manipulators Aiming at a Desired Dexterous Workspace
13.3 Conclusions
References
Chapter 14. Kinematic Synthesis of Spatial Mechanisms
Abstract
14.1 Kinematic Synthesis of a Spatial Parallel Manipulator With Three Pure Rotational Degrees of Freedom (DOFs)
14.2 Kinematics of a Spatial Parallel Manipulator With Two Rotational and One Translational DOF
14.3 Kinematic of the Suspension Mechanism with Invariable Orientation Parameters
14.4 Conclusions
References
Index
- Edition: 1
- Latest edition
- Published: October 30, 2018
- Language: English
JZ
Jingshan Zhao
Jingshan Zhao is a leading machine design, mechanical systems and robotics researcher at China’s prestigious Tsinghua University. He has received numerous awards for doctoral excellence in China over the past decade, including the New Century Excellent Talents in University Award in 2009 from the Education Ministry of China. He has contributed to more than 40 articles in international journals, is an editorial board member of the Journal of Machinery and Automation, and is the regional editor for Asia of The Open Mechanical Engineering Journal.
Affiliations and expertise
Tsinghua University, Beijing, People’s Republic of ChinaZF
Zhijing Feng
Affiliations and expertise
Tsinghua University, Beijing, People’s Republic of ChinaFC
Fulei Chu
Affiliations and expertise
Tsinghua University, Beijing, People’s Republic of ChinaNM
Ning Ma
Affiliations and expertise
Tsinghua University, Beijing, People’s Republic of ChinaRead Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms on ScienceDirect