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Springer Tracts in Mechanical Engineering

Finite and Instantaneous Screw Theory in Robotic Mechanism

Authors: Sun, Tao, Yang, Shuofei, Lian, Binbin

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  • 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

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  • ISBN 978-981-15-1944-4
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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.

About the authors

Tao Sun holds a Ph.D. and is a Professor and Deputy Dean of the School of Mechanical Engineering, Tianjin University, China. He is also the Deputy Director of the Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, China. Professor Sun’s current research focuses on mechanisms and robotics, parallel kinematic robots, bio-inspired robots, orthopedic surgery and rehabilitation robots. He has published 50 SCI cited journal papers.He has been the principle investigator of 16 national/provincial projects and holds 32 patents, and has won several awards for his work. 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.


Table of contents (12 chapters)

Table of contents (12 chapters)

Buy this book

eBook 117,69 €
price for Spain (gross)
  • ISBN 978-981-15-1944-4
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover 155,99 €
price for Spain (gross)
  • ISBN 978-981-15-1943-7
  • Free shipping for individuals worldwide
  • Immediate ebook access, if available*, with your print order
  • Usually dispatched within 3 to 5 business days.
  • The final prices may differ from the prices shown due to specifics of VAT rules
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Bibliographic Information

Bibliographic Information
Book Title
Finite and Instantaneous Screw Theory in Robotic Mechanism
Authors
Series Title
Springer Tracts in Mechanical Engineering
Copyright
2020
Publisher
Springer Singapore
Copyright Holder
Springer Nature Singapore Pte Ltd.
eBook ISBN
978-981-15-1944-4
DOI
10.1007/978-981-15-1944-4
Hardcover ISBN
978-981-15-1943-7
Series ISSN
2195-9862
Edition Number
1
Number of Pages
XI, 404
Number of Illustrations
69 b/w illustrations, 81 illustrations in colour
Topics

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