Robot Analysis
The Mechanics of Serial and Parallel Manipulators
1. Edition March 1999
XIV, 506 Pages, Hardcover
Wiley & Sons Ltd
Short Description
Written by a well-respected authority in the field, this book presents a state-of-the-art treatment of robot analysis and design. It offers detailed, even-handed, and up-to-date coverage of series and parallel manipulators, with an emphasis on robot kinematics.
Complete, state-of-the-art coverage of robot analysis
This unique book provides the fundamental knowledge needed for understanding the mechanics of both serial and parallel manipulators. Presenting fresh and authoritative material on parallel manipulators that is not available in any other resource, it offers an in-depth treatment of position analysis, Jacobian analysis, statics and stiffness analysis, and dynamical analysis of both types of manipulators, including a discussion of industrial and research applications. It also features:
* The homotopy continuation method and dialytic elimination method for solving polynomial systems that apply to robot kinematics
* Numerous worked examples and problems to reinforce learning
* An extensive bibliography offering many resources for more advanced study
Drawing on Dr. Lung-Wen Tsai's vast experience in the field as well as recent research publications, Robot Analysis is a first-rate text for upper-level undergraduate and graduate students in mechanical engineering, electrical engineering, and computer studies, as well as an excellent desktop reference for robotics researchers working in industry or in government.
Position Analysis of Parallel Manipulators.
Jacobian Analysis of Serial Manipulators.
Jacobian Analysis of Parallel Manipulators.
Statics and Stiffness Analysis.
Wrist Mechanisms.
Tendon-Driven Manipulators.
Dynamics of Serial Manipulators.
Dynamics of Parallel Manipulators.
Appendices.
Index.
