Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following th
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Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
Jaime Gallardo-Alvarado
Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
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Jaime Gallardo-Alvarado Department of Mechanical Engineering Instituto Tecnologico de Celaya Celaya, Mexico
ISBN 978-3-319-31124-1 ISBN 978-3-319-31126-5 (eBook) DOI 10.1007/978-3-319-31126-5 Library of Congress Control Number: 2016939238 © Springer International Publishing Switzerland 2016 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper This Springer imprint is published by Springer Nature The registered company is Springer International Publishing AG Switzerland
A la entrañable memoria de mis padres, Josefina y José. A mi esposa Alma Delia e hijos Delia Josefina, Juan Pablo y José. To my family and friends!
Preface
Robotics is a prolific and intensive research field whose applications have had a highly positive impact on both academia and industry. While old and modern theories are applied to solve challenging problems and improve existing solutions, mathematical models are currently used in the design, simulation, and control of industrial robots. Certainly, the possibilities offered by robot manipulators are immense, causing the variety of robot designs to continue to grow, which demands efficient and confident mathematical methods of analysis. It is noticeable that despite the diversity of journals and books concerned with the study of robot manipulators, there are particular issues that deserve to be deeply investigated or in some cases elucidated in the light of modern kinematics; these include singularities and higher-order kinematic analyses of robot manipulators. In this area, contributions approaching the jerk and hyper-jerk analyses of robot manipulators via screw theory are rather scarce, perhaps because of the lack of practical applications or the lack of credibility about the validity o
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