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Finite and Instantaneous Screw Theory in Robotic Mechanism

Sun, Tao Yang, Shuofei Lian, Binbin
Innbundet / 2020 / Engelsk

Product details

ISBN
9789811519437
Published
2020-02-14
Publisher
Springer Verlag, Singapore; Springer Verlag, Singapore
Height
235 mm
Width
155 mm
Age
Research, P, 06
Language
Product language
Engelsk
Format
Product format
Innbundet

Author
Sun, Tao
Yang, Shuofei
Lian, Binbin

Biographical note

Tao Sun holds a Ph.D. and is a Professor and Deputy Dean of the School of Mechanical Engineering, Tianjin University, China. He is also the Deputy Director of the Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, China. Professor Sun’s current research focuses on mechanisms and robotics, parallel kinematic robots, bio-inspired robots, orthopedic surgery and rehabilitation robots. He has published 50 SCI cited journal papers.He has been the principle investigator of 16 national/provincial projects and holds 32 patents, and has won several awards for his work. Shuofei Yang obtained his B.S. and Ph.D. degrees from Tianjin University, China, in 2011 and 2017, respectively. He is now a Research Associate in the Department of Industrial and Systems Engineering of The Hong Kong Polytechnic University, China. Dr. Yang's research interests include type synthesis, kinematics, and dynamics of robotic mechanisms. He has published 11 SCI cited journal papers and 1 EI cited journal paper. Binbin Lian holds a Ph.D. and is now an Associate Professor at the School of Mechanical Engineering, Tianjin University, China. Her research interests include performance analysis, optimal design, accuracy improvement, control and application of robotic mechanisms. She has published 25 SCI cited journal papers. In addition, she holds 15 patents.


Finite and Instantaneous Screw Theory in Robotic Mechanism

Sun, Tao Yang, Shuofei Lian, Binbin
Innbundet / 2020 / Engelsk
Sun, Tao Yang, Shuofei Lian, Binbin
Innbundet / 2020 / Engelsk
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This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms.
The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
Read more
It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms.
The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
Read more
Introduction.- Finite and Instantaneous Screw Theory.- Topology and Performance Modeling of Robotic Mechanisms.- Type Synthesis Method and Procedures of Robotic Mechanisms.- Type Synthesis of Mechanisms with Invariable Rotation Axes.- Type Synthesis of Mechanisms with Variable Rotation Axes.- Kinematic Modeling and Analysis of Robotic Mechanisms.- Static Modeling and Analysis of Robotic Mechanisms.- Dynamic Modeling and Analysis of Robotic Mechanisms.- Optimal Design of Robotic Mechanisms.- Synthesis, Analysis and Design of typical robotic mechanisms.- Kinematic Calibration of Robotic Mechanisms.- References.
Read more
This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms.
The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
Read more
Presents the general format and in-depth computation algorithms of finite screws, and the differential mapping between finite and instantaneous screws Offers detailed insights into the systematic development of robotic mechanisms, including topology invention, performance modeling, optimal design and kinematic calibration Includes generic methodology with rigorous proofs and case studies on the widely used robotic mechanisms to aid understanding
Read more
GPSR Compliance The European Union's (EU) General Product Safety Regulation (GPSR) is a set of rules that requires consumer products to be safe and our obligations to ensure this. If you have any concerns about our products you can contact us on ProductSafety@springernature.com. In case Publisher is established outside the EU, the EU authorized representative is: Springer Nature Customer Service Center GmbH Europaplatz 3 69115 Heidelberg, Germany ProductSafety@springernature.com
Read more

Related products

This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms.
The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
Read more
It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms.
The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
Read more
Introduction.- Finite and Instantaneous Screw Theory.- Topology and Performance Modeling of Robotic Mechanisms.- Type Synthesis Method and Procedures of Robotic Mechanisms.- Type Synthesis of Mechanisms with Invariable Rotation Axes.- Type Synthesis of Mechanisms with Variable Rotation Axes.- Kinematic Modeling and Analysis of Robotic Mechanisms.- Static Modeling and Analysis of Robotic Mechanisms.- Dynamic Modeling and Analysis of Robotic Mechanisms.- Optimal Design of Robotic Mechanisms.- Synthesis, Analysis and Design of typical robotic mechanisms.- Kinematic Calibration of Robotic Mechanisms.- References.
Read more
This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms.
The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
Read more
Presents the general format and in-depth computation algorithms of finite screws, and the differential mapping between finite and instantaneous screws Offers detailed insights into the systematic development of robotic mechanisms, including topology invention, performance modeling, optimal design and kinematic calibration Includes generic methodology with rigorous proofs and case studies on the widely used robotic mechanisms to aid understanding
Read more
GPSR Compliance The European Union's (EU) General Product Safety Regulation (GPSR) is a set of rules that requires consumer products to be safe and our obligations to ensure this. If you have any concerns about our products you can contact us on ProductSafety@springernature.com. In case Publisher is established outside the EU, the EU authorized representative is: Springer Nature Customer Service Center GmbH Europaplatz 3 69115 Heidelberg, Germany ProductSafety@springernature.com
Read more

Product details

ISBN
9789811519437
Published
2020-02-14
Publisher
Springer Verlag, Singapore; Springer Verlag, Singapore
Height
235 mm
Width
155 mm
Age
Research, P, 06
Language
Product language
Engelsk
Format
Product format
Innbundet

Author
Sun, Tao
Yang, Shuofei
Lian, Binbin

Biographical note

Tao Sun holds a Ph.D. and is a Professor and Deputy Dean of the School of Mechanical Engineering, Tianjin University, China. He is also the Deputy Director of the Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, China. Professor Sun’s current research focuses on mechanisms and robotics, parallel kinematic robots, bio-inspired robots, orthopedic surgery and rehabilitation robots. He has published 50 SCI cited journal papers.He has been the principle investigator of 16 national/provincial projects and holds 32 patents, and has won several awards for his work. Shuofei Yang obtained his B.S. and Ph.D. degrees from Tianjin University, China, in 2011 and 2017, respectively. He is now a Research Associate in the Department of Industrial and Systems Engineering of The Hong Kong Polytechnic University, China. Dr. Yang's research interests include type synthesis, kinematics, and dynamics of robotic mechanisms. He has published 11 SCI cited journal papers and 1 EI cited journal paper. Binbin Lian holds a Ph.D. and is now an Associate Professor at the School of Mechanical Engineering, Tianjin University, China. Her research interests include performance analysis, optimal design, accuracy improvement, control and application of robotic mechanisms. She has published 25 SCI cited journal papers. In addition, she holds 15 patents.


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