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Mechanisms

Kinematic Analysis and Applications in Robotics

  • 1st Edition - June 18, 2022
  • Latest edition
  • Authors: Jaime Gallardo-Alvarado, José Gallardo-Razo
  • Language: English

Theory of mechanisms is an applied science of mechanics that studies the relationship between geometry, mobility, topology, and relative motion between rigid bodies connected by ge… Read more

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Description

Theory of mechanisms is an applied science of mechanics that studies the relationship between geometry, mobility, topology, and relative motion between rigid bodies connected by geometric forms. Recently, knowledge in kinematics and mechanisms has considerably increased, causing a renovation in the methods of kinematic analysis. With the progress of the algebras of kinematics and the mathematical methods used in the optimal solution of polynomial equations, it has become possible to formulate and elegantly solve problems.

Mechanisms: Kinematic Analysis and Applications in Robotics provides an updated approach to kinematic analysis methods and a review of the mobility criteria most used in planar and spatial mechanisms. Applications in the kinematic analysis of robot manipulators complement the material presented in the book, growing in importance when one recognizes that kinematics is a basic area in the control and modeling of robot manipulators.

Key features

  • Presents an organized review of general mathematical methods and classical concepts of the theory of mechanisms
  • Introduces methods approaching time derivatives of arbitrary vectors employing general approaches based on the vector angular velocity concept introduced by Kane and Levinson
  • Proposes a strategic approach not only in acceleration analysis but also to jerk analysis in an easy to understand and systematic way
  • Explains kinematic analysis of serial and parallel manipulators by means of the theory of screws

Readership

Engineers, and Researchers in the fields of mechanical, electrical, and automations engineering, robotics, aeronautics, kinematics, and theory of mechanisms. Undergraduate and graduate students

Table of contents

PART 1: INTRODUCTION

1.Overview of kinematics and its algebras

2. Overview of mechanisms and robot manipulators

PART 2: MATHEMATICAL BACKGROUND

3. Linear algebra

4. The Lie algebra se(3) of the Euclidean group SE(3)

5. Polynomial

6. Vector derivative

PART 3: GEOMETRY OF MECHANISMS

7. Generalities

8. Mobility of mechanisms

PART 4: DISPLACEMENT

9. Closed kinematic chains

10. Open kinematic chains

PART 5: VELOCITY

11. Angular velocity

12. Vectorial method

13. Graphical method

14. Analytical method

PART 6: ACCELERATION

15. Angular acceleration

16. Vectorial method

17. Analytical method

PART 7: ROBOTICS

18. Fundamentals of screw theory

19. Robot manipulators

APPENDIX A: Maple Sheets

Product details

  • Edition: 1
  • Latest edition
  • Published: June 21, 2022
  • Language: English

About the authors

JG

Jaime Gallardo-Alvarado

Jaime Gallardo-Alvarado received his Ph.D. degree from the Tecnológico Nacional de México in La Laguna. He is a member of the National System of Researchers of Mexico, and is currently a professor in the Department of Mechanical Engineering at the Tecnológico Nacional de México in Celaya. His areas of interest include kinematics and dynamics of rigid bodies, Lie algebras, screw theory, and robot kinematics. Dr. Gallardo-Alvarado is author of the book “Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory” and has published more than 70 research papers in scientific journals.
Affiliations and expertise
Professor, Department of Mechanical Engineering, Tecnologico Nacional de Mexico, Celaya, Mexico

JG

José Gallardo-Razo

José Gallardo-Razo received his B.Sc. degree from the Tecnológico Nacional de México in Celaya. He is currently a Design Engineer in ZKW Mexico. His areas of interest cover kinematics, dynamics and control of robot manipulators, mechanical design, and CAD-CAE-CAM.
Affiliations and expertise
Design Engineer, ZKW Mexico, Mexico

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