Download Advanced Theory of Constraint and Motion Analysis for Robot by Jingshan Zhao PDF

By Jingshan Zhao

Advanced thought of Constraint and movement research for robotic Mechanisms offers an entire analytical method of the discovery of recent robotic mechanisms and the research of present designs in accordance with a unified mathematical description of the kinematic and geometric constraints of mechanisms.

Beginning with a excessive point creation to mechanisms and parts, the e-book strikes directly to current a brand new analytical thought of terminal constraints to be used within the improvement of recent spatial mechanisms and constructions. It sincerely describes the applying of screw thought to kinematic difficulties and gives instruments that scholars, engineers and researchers can use for research of serious components equivalent to workspace, dexterity and singularity.

  • Combines constraint and loose movement research and layout, supplying a brand new method of robotic mechanism innovation and improvement
  • Clearly describes using screw idea in robotic kinematic research, bearing in mind concise illustration of movement and static forces compared to standard research methods
  • Includes labored examples to translate conception into perform and exhibit the applying of recent analytical the right way to serious robotics problems

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Additional info for Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms

Example text

Hiller, A complete solution for the inverse kinematic problem of the general 6R robot manipulator, Journal of Mechanical Design, Transactions of the ASME 113 (1991) 481–486. [45] V. J. Waldron, Position kinematics of the generalized lobster arm and its series–parallel dual, Journal of Mechanical Design, Transactions of the ASME 114 (1992) 406–413. G. Jalón, E. Bayo, Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge, Springer-Verlag, NewYork, 1994. C. Park, J. R. Ploen, Symbolic formulation of closed chain dynamics in independent coordinates, Mechanism and Machine Theory 34 (5) (1999) 731–751.

S + h1 − h2 s Suppose that the unit direction vector of the common perpendicular of the ⊥ axes of $1 and $2 is denoted by s⊥ 12 , then we have s · s12 = 0. Obviously, $ is an improper screw whose direction vector is represented by s0 = r1 − r2 × s + h 1 − h 2 s ⊥ = ds⊥ 12 + ps × s + h 1 − h 2 s = ds12 × s + h 1 − h 2 s where s0 represents the direction vector of the combined screw $ , d indicates the vertical distance of the axes of $1 and $2 , p denotes the length of the projection from r1 − r2 to the direction of the axes of $1 and $2 .

A. Mirth, Circuits and branches of single-degree-of-freedom planar linkages, Journal of Mechanical Design, Transactions of the ASME 115 (1993) 223–230. [82] R. A. Hoeltzel, A. Das, An analytical method for the identification of redundant constraints in multiple-loop spatial mechanisms, Journal of Mechanical Design, Transactions of the ASME 115 (1993) 322–330. J. W. Lee, The transmissivity and manipulability of spatial mechanisms, Journal of Mechanical Design, Transactions of the ASME 116 (1994) 37–143.

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