This book describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed can be applied to both control of robots and the design of their major moving parts. Comprehensive coverage of the screw and its geometry bridges the gap between screw theory and traditional mechanics but no prior knowledge of screw theory is assumed. The reader is introduced to the screw with a simple planar example and progresses to robots that move three-dimensionally. Containing many illustrative examples, over 300 exercises, and a chapter list of references it is ideal for graduate students, researchers and professionals in the field of robotics, robot design and development.
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Editorial Reviews
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"This text by Davidson (mechanical and aerospace engineering, Arizona State U.) and the late Hunt (emeritus, mechanical engineering, Monash U., Australia) treats the capabilities and limitations of the mechanics of robot motion, particularly relying on the mathematical application of screw theory, which underlies areas of the mechanics of statics and firstorder kinematics. After introducing screw theory, they explore applications related to spatial serial robot-arms, assembly-configurations of serial robot-arms, in-parallel actuation, and static stability in legged vehicles."--SciTech Book News
About the Author
Joseph K. Davidson served as Associate Editor of the ASME Journal of Mechanisms, Transmissions, and Automation in Design from 1982-86. He also served one term as a member of the Executive Committee of the International Federation for the Theory of Machines and Mechanisms.
Davidson is a Fellow of the American Society of Mechanical Engineers.
Davidson is a member of the Robotics & Automation Society of the IEEE.
Kenneth H. Hunt served on the Honorary Editorial Advisory Board of the Pergamon journal Mechanism and Machine Theory from its inception in 1966 (as the Journal of Mechanisms) until his death in 2002. He was a Founding Executive Councillor of the International Federation for the Theory of Machines and Mechanisms, and he also was the Founding Chairman of the Australian National Committee for IFToMM.
Hunt is a Fellow of the American Society of Mechanical Engineers
Hunt is a Fellow of the Institution of Mechanical Engineers
Hunt is a Fellow of the Institution of Engineers, Australia
Hunt is a Fellow of the Australian Academy of Technological Sciences
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Inside This Book
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First Sentence:
A robot can broadly be described as a versatile and programmable machine for controlled manipulation of objects. Read the first page Key Phrases - Statistically Improbable Phrases (SIPs): (learn more)
serial arm, octahedral manipulator, datum configuration, normalized screws, principal screws, composite robots, reciprocal screw systems, relative planar motion, finite twist, instantaneous rotational axis, parallel rotary joints, virtual twist, actuated joints, frictional grasp, spherical wrist, actuated prismatic joint, confirm eqn, mutually skew lines, resultant wrench, three rotary joints, planar pencil, helical joint, coupling robot, actuated legs, elbow manipulator Key Phrases - Capitalized Phrases (CAPs): (learn more)
Some Variants, Spatial Serial Robot-arms, Five-actuator Arms, General Locations of the Contacts New!
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Front Cover | Table of Contents | First Pages | Index | Back Cover | Surprise Me!
A robot can broadly be described as a versatile and programmable machine for controlled manipulation of objects. Read the first page Key Phrases - Statistically Improbable Phrases (SIPs): (learn more)
serial arm, octahedral manipulator, datum configuration, normalized screws, principal screws, composite robots, reciprocal screw systems, relative planar motion, finite twist, instantaneous rotational axis, parallel rotary joints, virtual twist, actuated joints, frictional grasp, spherical wrist, actuated prismatic joint, confirm eqn, mutually skew lines, resultant wrench, three rotary joints, planar pencil, helical joint, coupling robot, actuated legs, elbow manipulator Key Phrases - Capitalized Phrases (CAPs): (learn more)
Some Variants, Spatial Serial Robot-arms, Five-actuator Arms, General Locations of the Contacts New!
Books on Related Topics | Concordance | Text Stats Browse Sample Pages:
Front Cover | Table of Contents | First Pages | Index | Back Cover | Surprise Me!
Citations (learn more)
This book cites 10
books:
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1
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cites this book:
- Advances in Robot Kinematics: Analysis and Control by Jadran Lenarcic in Back Matter
- Fundamentals of Robotic Mechanical Systems by Jorge Angeles in Back Matter
- Robotics Research: The Fifth International Symposium (Artificial Intelligence) by Hirofumi Miura in Back Matter
- Advances in Robot Kinematics by Jadran Lenarcic in Back Matter
- International Symposium on History of Machines and Mechanisms (Hmm Symposium) by Marco Ceccarelli in Back Matter
See all 10 books this book cites
- Advances in Robot Kinematics: Mechanisms and Motion by Jadran Lenarcic on page 132
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