Available:*
Library | Item Barcode | Call Number | Material Type | Item Category 1 | Status |
|---|---|---|---|---|---|
Searching... | 30000010183178 | TJ211 D83 1996 | Open Access Book | Book | Searching... |
Searching... | 30000010193727 | TJ211 D83 1996 | Open Access Book | Book | Searching... |
Searching... | 30000003499302 | TJ211 D83 1996 | Open Access Book | Book | Searching... |
On Order
Summary
Summary
Robotic manipulators are becoming increasingly important in research and industry, and an understanding of statics and kinematics is essential to solving problems of robotics. This book, written by an eminent researcher and practitioner, provides a thorough introduction to statics and first-order instantaneous kinematics with applications to robotics. The emphasis is on serial and parallel planar manipulators and mechanisms. The text differs from others in that it is based solely upon the concepts of classical geometry. It describes how to introduce linear springs into the connectors of parallel manipulators and to provide a proper geometric method for controlling the force and motion of a rigid lamina. Both students and practising engineers will find this book easy to follow, with a clearly written text and abundant illustrations, as well as exercises and real-world projects to work on.
Reviews 1
Choice Review
Duffy discusses important aspects of statics and kinematics of robotic manipulators based on the concepts of classical geometry. He provides a detailed introduction to statics and first-order instantaneous kinematics of serial and parallel planar manipulators and mechanisms. The five chapters in the book cover topics such as displacement analysis of planar robot manipulators, statics of planar rigid systems and parallel manipulators, first-order instantaneous planar kinematics, dualities of parallel and serial devices, and stiffness mapping for a parallel manipulator. A number of exercise problems are given. Adequate references and subject index. Best suited for senior-level undergraduate or graduate students in courses related to robotic manipulators. P. K. Basu Vanderbilt University
Table of Contents
| Preface |
| Introduction |
| 1 A displacement analysis of planar robot manipulators |
| 2 Planar statics |
| 3 First-order instantaneous planar kinematics |
| 4 Dualities of parallel and serial devices |
| 5 The stiffness mapping for a parallel manipulator |
| References |
| Index |
