Home » Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms by Jingshan Zhao
Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms Jingshan Zhao

Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms

Jingshan Zhao

Published December 3rd 2013
ISBN : 9780124201620
Hardcover
480 pages
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 About the Book 

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 theMoreAdvanced 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.