Authors:
- Presents the general format and in-depth computation algorithms of finite screws, and the differential mapping between finite and instantaneous screws
- Offers detailed insights into the systematic development of robotic mechanisms, including topology invention, performance modeling, optimal design and kinematic calibration
- Includes generic methodology with rigorous proofs and case studies on the widely used robotic mechanisms to aid understanding
Part of the book series: Springer Tracts in Mechanical Engineering (STME)
Buy it now
Buying options
Tax calculation will be finalised at checkout
Other ways to access
This is a preview of subscription content, log in via an institution to check for access.
Table of contents (12 chapters)
-
Front Matter
-
Back Matter
About this book
This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms.
The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
Keywords
- Robotic Mechanism
- Articulated Serial Robot
- Parallel Mechanism
- Finite Motion
- Instantaneous Motion
- Twist and Wrench
- Type Synthesis
- Motion Pattern
- Forward Kinematic
- Inverse Kinematic
- Virtual Joint Method
- Dynamic
- Jacobian Matrix
- Hessian Matrix
- Parameter Uncertainty
- Multi-objective Optimization
- Performance Design
- Error Modeling
- Parameter Identification
- Kinematic Calibration
Authors and Affiliations
-
School of Mechanical Engineering, Tianjin University, Tianjin, China
Tao Sun, Shuofei Yang, Binbin Lian
About the authors
Shuofei Yang obtained his B.S. and Ph.D. degrees from Tianjin University, China, in 2011 and 2017, respectively. He is now a Research Associate in the Department of Industrial and Systems Engineering of The Hong Kong Polytechnic University, China. Dr. Yang's research interests include type synthesis, kinematics, and dynamics of robotic mechanisms. He has published 11 SCI cited journal papers and 1 EI cited journal paper.
Binbin Lian holds a Ph.D. and is now an Associate Professor at the School of Mechanical Engineering, Tianjin University, China. Her research interests include performance analysis, optimal design, accuracy improvement, control and application of robotic mechanisms. She has published 25 SCI cited journal papers. In addition, she holds 15 patents.
Bibliographic Information
Book Title: Finite and Instantaneous Screw Theory in Robotic Mechanism
Authors: Tao Sun, Shuofei Yang, Binbin Lian
Series Title: Springer Tracts in Mechanical Engineering
DOI: https://doi.org/10.1007/978-981-15-1944-4
Publisher: Springer Singapore
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: Springer Nature Singapore Pte Ltd. 2020
Hardcover ISBN: 978-981-15-1943-7Published: 14 February 2020
Softcover ISBN: 978-981-15-1946-8Published: 14 February 2021
eBook ISBN: 978-981-15-1944-4Published: 13 February 2020
Series ISSN: 2195-9862
Series E-ISSN: 2195-9870
Edition Number: 1
Number of Pages: XI, 404
Number of Illustrations: 69 b/w illustrations, 81 illustrations in colour
Topics: Control, Robotics, Mechatronics, Vibration, Dynamical Systems, Control, Engineering Design