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

By Jingshan Zhao

Advanced conception of Constraint and movement research for robotic Mechanisms presents an entire analytical method of the discovery of recent robotic mechanisms and the research of present designs in response to a unified mathematical description of the kinematic and geometric constraints of mechanisms.

Beginning with a excessive point advent to mechanisms and elements, the e-book strikes directly to current a brand new analytical idea of terminal constraints to be used within the improvement of latest spatial mechanisms and constructions. It sincerely describes the appliance of screw conception to kinematic difficulties and gives instruments that scholars, engineers and researchers can use for research of severe elements reminiscent of workspace, dexterity and singularity.

  • Combines constraint and unfastened movement research and layout, providing a brand new method of robotic mechanism innovation and improvement
  • Clearly describes using screw idea in robotic kinematic research, taking into consideration concise illustration of movement and static forces compared to traditional research methods
  • Includes labored examples to translate conception into perform and display the applying of latest analytical how you can serious robotics problems

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Kempe, How to Draw a Straight Line, Macmillan, London, (2013). http://kmoddl. html ,. W. Henderson, and D. Taimina, 27 August. html>, 27 August 2013. html>, 27 August 2013. -S. Zhao, K. J. Feng, A theory of degrees of freedom for mechanisms, Mechanism and Machine Theory 39 (6) (2004) 621–643. S. Zhao, F. J. Feng, Jian S. Dai, Actuation schemes of a spatial 3-PPRR parallel mechanism, Journal of Mechanical Engineering Science, Proc. IMechE, Part C 226 (1) (2012) 228–241. S. Zhao, K. Z. F. Gao, Y.

M. Gosselin, Analysis of the Wrench-Closure workspace of planar parallel cable-driven mechanisms, IEEE Transactions on Robotics 22 (3) (2006) 434–445. [72] H. M. J. Richard, Determination of maximal singularity-free zones in the six-dimensional workspace of the general Gough–Stewart platform, Mechanism and Machine Theory 42 (4) (2007) 497–511. Z. Yang, K. Q. Zhang, On the workspace boundary determination of serial manipulators with non-unilateral constraints, Robotics and Computer Integrated Manufacturing 24 (1) (2007) 60–76.

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