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Robots and Screw Theory: Applications of Kinematics and Statics to Robotics
 
 
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Robots and Screw Theory: Applications of Kinematics and Statics to Robotics (Hardcover)

~ (Author), the late Kenneth H. Hunt (Author) "A robot can broadly be described as a versatile and programmable machine for controlled manipulation of objects..." (more)
Key Phrases: serial arm, octahedral manipulator, datum configuration, Some Variants, Spatial Serial Robot-arms, Five-actuator Arms (more...)
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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


Product Description

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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Joseph K. Davidson
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Robots and Screw Theory: Applications of Kinematics and Statics to Robotics
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Robots and Screw Theory: Applications of Kinematics and Statics to Robotics
$278.50

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