By Jingshan Zhao
Advanced idea of Constraint and movement research for robotic Mechanisms presents an entire analytical method of the discovery of latest robotic mechanisms and the research of present designs in keeping with a unified mathematical description of the kinematic and geometric constraints of mechanisms.
Beginning with a excessive point creation to mechanisms and parts, the ebook strikes directly to current a brand new analytical idea of terminal constraints to be used within the improvement of recent spatial mechanisms and buildings. It sincerely describes the applying of screw conception to kinematic difficulties and offers instruments that scholars, engineers and researchers can use for research of severe components corresponding to workspace, dexterity and singularity.
- Combines constraint and loose movement research and layout, supplying a brand new method of robotic mechanism innovation and improvement
- Clearly describes using screw conception in robotic kinematic research, taking into account concise illustration of movement and static forces compared to standard research methods
- Includes labored examples to translate conception into perform and reveal the appliance of recent analytical how you can serious robotics problems
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Extra resources for Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms
123) is superimposed with the axes of $1 and $2 . When k2 = −k1 = 0,k1 + k2 = 0. 123) can be simplified as $ = k1 h 1 − h 2 0 . 124) Because $1 and $2 are linearly independent, h 1 = h 2 . 124) indicates that any improper screw generated by $1 and $2 is only determined T by the unit screw $u = 0 sT , which proves that there is only one improper screw in the two-order screw system generated by $1 and $2 . All of the screws in a two-order screw system are located on an irregular spatial surface, called a cylindroid.
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