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Mechanisms
Kinematic Analysis and Applications in Robotics
- 1st Edition - June 18, 2022
- Authors: Jaime Gallardo-Alvarado, José Gallardo-Razo
- Language: English
- Paperback ISBN:9 7 8 - 0 - 3 2 3 - 9 5 3 4 8 - 1
- eBook ISBN:9 7 8 - 0 - 3 2 3 - 9 5 3 4 7 - 4
Theory of mechanisms is an applied science of mechanics that studies the relationship between geometry, mobility, topology, and relative motion between rigid bodies connected by ge… Read more
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Request a sales quoteTheory of mechanisms is an applied science of mechanics that studies the relationship between geometry, mobility, topology, and relative motion between rigid bodies connected by geometric forms. Recently, knowledge in kinematics and mechanisms has considerably increased, causing a renovation in the methods of kinematic analysis. With the progress of the algebras of kinematics and the mathematical methods used in the optimal solution of polynomial equations, it has become possible to formulate and elegantly solve problems.
Mechanisms: Kinematic Analysis and Applications in Robotics provides an updated approach to kinematic analysis methods and a review of the mobility criteria most used in planar and spatial mechanisms. Applications in the kinematic analysis of robot manipulators complement the material presented in the book, growing in importance when one recognizes that kinematics is a basic area in the control and modeling of robot manipulators.
- Presents an organized review of general mathematical methods and classical concepts of the theory of mechanisms
- Introduces methods approaching time derivatives of arbitrary vectors employing general approaches based on the vector angular velocity concept introduced by Kane and Levinson
- Proposes a strategic approach not only in acceleration analysis but also to jerk analysis in an easy to understand and systematic way
- Explains kinematic analysis of serial and parallel manipulators by means of the theory of screws
Engineers, and Researchers in the fields of mechanical, electrical, and automations engineering, robotics, aeronautics, kinematics, and theory of mechanisms. Undergraduate and graduate students
- Cover image
- Title page
- Table of Contents
- Copyright
- Dedication
- List of figures
- Biography
- Jaime Gallardo-Alvarado
- José Gallardo-Razo
- Preface
- Part 1: Introduction
- Chapter 1: Overview of kinematics and its algebras
- Abstract
- 1.1. Preamble
- 1.2. Origins of kinematics
- 1.3. Algebras of kinematics
- References
- Chapter 2: Overview of mechanisms and robot manipulators
- Abstract
- 2.1. Preamble
- 2.2. Machines and mechanisms, their origins
- 2.3. Automata
- 2.4. Robot manipulators
- References
- Part 2: Mathematical background
- Chapter 3: Linear algebra
- Abstract
- 3.1. Preamble
- 3.2. Matrices
- 3.3. Determinants
- 3.4. Cayley-Hamilton theorem
- 3.5. Vectors
- Problems
- References
- Chapter 4: The Lie algebra se(3) of the Euclidean group SE(3)
- Abstract
- 4.1. Preamble
- 4.2. Chasles' theorem
- 4.3. Plücker coordinates
- 4.4. Operations of the Lie algebra se(3) of the Euclidean group SE(3)
- Problems
- References
- Chapter 5: Polynomial
- Abstract
- 5.1. Preamble
- 5.2. Newton-Raphson method
- 5.3. Newton-homotopy method
- 5.4. Sylvester dialytic method of elimination
- Problems
- References
- Chapter 6: Vector derivative
- Abstract
- 6.1. Preamble
- 6.2. Angular velocity vector
- 6.3. Orthonormal dextrogyrous basis
- 6.4. Time derivative of an arbitrary vector
- Problems
- References
- Part 3: Geometry of mechanisms
- Chapter 7: Generalities
- Abstract
- 7.1. Preamble
- 7.2. Mobility of a rigid body
- 7.3. Links
- 7.4. Kinematic pairs
- 7.5. Kinematic chain
- 7.6. Grashof's criterion
- Problems
- References
- Chapter 8: Mobility of mechanisms
- Abstract
- 8.1. Preamble
- 8.2. Grübler criterion
- 8.3. Kutzbach-Grübler-Chebyshev criterion
- 8.4. Kutzbach-Grübler-Malyshev criterion
- Problems
- References
- Part 4: Displacement
- Chapter 9: Closed kinematic chains
- Abstract
- 9.1. Preamble
- 9.2. Graphical methods
- 9.3. Numerical methods
- 9.4. Algebraic geometry
- Problems
- References
- Chapter 10: Open kinematic chains
- Abstract
- 10.1. Preamble
- 10.2. Parallel reference frames
- 10.3. Rotating reference frames
- 10.4. General reference frame
- 10.5. Composition of transformations
- 10.6. Denavit-Hartenberg representation
- Problems
- References
- Part 5: Velocity
- Chapter 11: Angular velocity
- Abstract
- 11.1. Preamble
- 11.2. Rotation about a fixed axis
- 11.3. Instantaneous velocity center
- 11.4. Instantaneous screw axis
- 11.5. The angular velocity tensor
- 11.6. Vector decomposition of angular velocity
- 11.7. The three-body method
- Problems
- References
- Chapter 12: Vectorial method
- Abstract
- 12.1. Preamble
- 12.2. Velocity of a particle
- 12.3. Relative velocity in the rigid body
- 12.4. The three-body method
- 12.5. Applications of the vectorial method
- Problems
- References
- Chapter 13: Graphical method
- Abstract
- 13.1. Preamble
- 13.2. Instantaneous center of velocity in mechanisms
- 13.3. Aronhold-Kennedy theorem
- 13.4. Applications of the graphical method
- Problems
- References
- Chapter 14: Analytical method
- Abstract
- 14.1. Preamble
- 14.2. Input-output equation of velocity
- 14.3. Singularity analysis
- 14.4. Applications of the analytical method
- Problems
- References
- Part 6: Acceleration
- Chapter 15: Angular acceleration
- Abstract
- 15.1. Preamble
- 15.2. Rotation around a fixed axis
- 15.3. Instantaneous center of acceleration
- 15.4. The three-body method
- 15.5. Angular jerk
- Problems
- References
- Chapter 16: Vectorial method
- Abstract
- 16.1. Preamble
- 16.2. Acceleration of a particle
- 16.3. Relative acceleration in a rigid body
- 16.4. The three-body method
- 16.5. Jerk
- 16.6. Applications of the vectorial method
- Problems
- References
- Chapter 17: Analytical method
- Abstract
- 17.1. Preamble
- 17.2. Input-output equation of acceleration
- 17.3. Applications of the analytical method
- Problems
- References
- Part 7: Robotics
- Chapter 18: Fundamentals of screw theory
- Abstract
- 18.1. Preamble
- 18.2. Velocity analysis in screw form
- 18.3. Acceleration analysis in screw form
- 18.4. Jerk analysis in screw form
- References
- Chapter 19: Robot manipulators
- Abstract
- 19.1. Preamble
- 19.2. 3-RRR planar parallel manipulator
- 19.3. Gough-Stewart platform
- 19.4. SCARA robot
- 19.5. PUMA robot
- 19.6. Parallel manipulator with configurable platform
- References
- Appendix A: Maple sheets
- A.1. Preamble
- Chapter 3
- Chapter 4
- Chapter 5
- Chapter 11
- Chapter 12
- Chapter 18
- Index
- No. of pages: 530
- Language: English
- Edition: 1
- Published: June 18, 2022
- Imprint: Academic Press
- Paperback ISBN: 9780323953481
- eBook ISBN: 9780323953474
JG
Jaime Gallardo-Alvarado
Jaime Gallardo-Alvarado received his Ph.D. degree from the Tecnológico Nacional de México in La Laguna. He is a member of the National System of Researchers of Mexico, and is currently a professor in the Department of Mechanical Engineering at the Tecnológico Nacional de México in Celaya. His areas of interest include kinematics and dynamics of rigid bodies, Lie algebras, screw theory, and robot kinematics. Dr. Gallardo-Alvarado is author of the book “Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory” and has published more than 70 research papers in scientific journals.
Affiliations and expertise
Professor, Department of Mechanical Engineering, Tecnologico Nacional de Mexico, Celaya, MexicoJG
José Gallardo-Razo
José Gallardo-Razo received his B.Sc. degree from the Tecnológico Nacional de México in Celaya. He is currently a Design Engineer in ZKW Mexico. His areas of interest cover kinematics, dynamics and control of robot manipulators, mechanical design, and CAD-CAE-CAM.
Affiliations and expertise
Design Engineer, ZKW Mexico, MexicoRead Mechanisms on ScienceDirect