Advanced theory of constraint and motion analysis for robot mechanisms
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 the kinematic and geometric constraints of mechanisms. Beginn...
| Otros Autores: | , |
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| Formato: | Libro electrónico |
| Idioma: | Inglés |
| Publicado: |
Oxford :
Academic Press, an imprint of Elsevier
2014.
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| Edición: | 1st ed |
| Colección: | Gale eBooks
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| Materias: | |
| Ver en Biblioteca Universitat Ramon Llull: | https://discovery.url.edu/permalink/34CSUC_URL/1im36ta/alma991009628750906719 |
Tabla de Contenidos:
- Half Title; Title; Copyright; Contents; Preface; 1 Introduction; 1.1 Review of Mechanism; 1.1.1 Development of Mechanism; 1.1.2 Brief History of Mobility Analysis of Mechanism; 1.2 Contradiction Between Calculation and Practice of Mobility of Spatial Mechanism; 1.3 Possible Causes for Contradiction between the Calculated DOF and the Actual One; 1.3.1 Cause I; 1.3.2 Cause II; 1.3.3 Cause III; 1.3.4 Cause IV; 1.4 Contents of the Book; References; 2 A Brief Introduction to Screw Theory; 2.1 Plücker Vector; 2.2 Rigid Body's Motion Expression; 2.2.1 Rotation of a Rigid Body
- 2.2.2 Composited Motion of a Rigid Body2.2.3 Velocity of a Rigid Body; 2.3 Screw Expression of Motion and Force; 2.3.1 Motion Screw and Force Screw; 2.3.2 Conditions that the Rigid Bodies Keep Balance; 2.4 Reciprocal Product of Screws and its Geometric Meaning; 2.5 Linear Combinations of Screws and Principal Screws of a Screw System; 2.6 Identification of Principal Screws of a Screw System; 2.6.1 Representations of a Specified Screw System; 2.6.2 Matrix Representation of the Pitch of a Screw; 2.6.3 Identifications of the Principal Pitches and Principal Screws
- 2.6.4 Principal Screws of Two-system2.6.5 Principal Screws of Three-system; 2.7 Conclusions; References; 3 Twists and Wrenches of a Kinematic Chain; 3.1 Free Motions and the Constraints of a Kinematic Pair; 3.1.1 Helical Pair; 3.1.2 Revolute Pair; 3.1.3 Prismatic Pair; 3.1.4 Universal Pair; 3.1.5 Cylindrical Pair; 3.1.6 Gear Pair; 3.1.7 Spherical Pair; 3.1.8 Planar Pair; 3.1.9 Sphere-Cylindrical Pair; 3.1.10 Sphere-Planar Pair; 3.2 Twists of Kinematic Chains; 3.3 Theory of Reciprocal Screws; 3.3.1 Kinematic Chain of Zero Terminal Constraint; 3.3.2 Kinematic Chain of One Terminal Constraint
- 3.3.2.1 A Force as the Terminal Constraint3.3.2.2 A Moment of Couple as the Terminal Constraint [bib4]; 3.3.3 Kinematic Chain of Other Terminal Constraints; 3.3.3.1 A Spatial Six-Link Mechanism; 3.3.3.2 A Bionic Robot Mechanism; 3.4 Conclusions; References; 4 Free Motion of the End Effector of a Robot Mechanism; 4.1 Free Motion Space and Constraint Space of Kinematic Chain; 4.2 General Steps to Analyze the Degree of Freedom of the End Effector; 4.3 Application of the Analytical Theory of the Degree of Freedom of the End Effector; 4.3.1 A Planar Four-Bar Mechanism
- 4.3.2 A Planar Parallel Mechanism with an Output Member4.3.3 A 3-UPU Spatial Parallel Manipulator; 4.3.4 A 4-PUU Spatial Parallel Mechanism with a Manipulator; 4.3.5 A Schoenflies-Type Parallel Manipulator; 4.3.6 A Spatial Parallel Five-Link Mechanism; 4.4 The Equivalent Substitutions for Hybrid Kinematic Chains; 4.4.1 The Hybrid Kinematic Chain of a Bionic Mechanism; 4.4.2 Hybrid Kinematic Chain of Spatial Mechanism with Four Branches; 4.4.2.1 A Finite Angle the Rigid End Effector Revolved About the x1-Axis; 4.4.2.2 A Finite Angle the Rigid End Effector Revolved About the x2-Axis
- 4.4.2.3 A Finite Angle the Rigid End Effector Revolved About the x3-Axis
