Screw Theory and Its Application to Spatial Robot Manipulators

Discover A Fresh Take On Classical Screw Theory And Understand The Geometry Embedded Within Robots And Mechanisms With This Essential Text. The Book Begins With A Geometrical Study Of Points Lines And Planes And Slowly Takes The Reader Toward A Mastery Of Screw Theory With Some Cutting-Edge Results All While Using Only Basic Linear Algebra And Ordinary Vectors. It Features A Discussion Of The Geometry Of Parallel And Serial Robot Manipulators In Addition To The Reciprocity Of Screws And A Singularity Study. All 41 Essential Screw Systems Are Unveiled Establishing The Possible Freedom Twists And Constraint Wrenches For A Kinematic Joint. Familiarizing The Reader With Screw Geometry In Order To Study The Statics And Kinematics Of Robots And Mechanisms This Is A Perfect Resource For Engineers And Graduate Students.