Statics and Kinematics with Applications to Robotics / Edition 1

by Joseph Duffy

Overview

Robotic manipulators are becoming increasingly important in research and industry, and an understanding of statics and kinematics is essential to solving problems in this field. This book, written by an eminent researcher and practitioner, provides a thorough introduction to statics and first order instantaneous kinematics with applications to robotics. The emphasis is on serial and parallel planar manipulators and mechanisms. The text differs from others in that it is based solely on the concepts of classical geometry. It is the first to describe how to introduce linear springs into the connectors of parallel manipulators and to provide a proper geometric method for controlling the force and motion of a rigid lamina. Both students and practicing engineers will find this book easy to follow, with its clear text, abundant illustrations, exercises, and real-world projects.

Product Details

ISBN-13:	9780521482134
Publisher:	Cambridge University Press
Publication date:	05/31/1996
Edition description:	New Edition
Pages:	192
Product dimensions:	5.98(w) x 9.02(h) x 0.51(d)

Table of Contents

Preface; Introduction; 1. A displacement analysis of planar robot manipulators; 2. Planar statics; 3. First-order instantaneous planar kinematics; 4. Dualities of parallel and serial devices; 5. The stiffness mapping for a parallel manipulator; References; Index.

Editorial Reviews

A textbook for an undergraduate course introducing statics and first-order instantaneous kinematics with applications to robotics, emphasizing serial and parallel planar manipulators and mechanisms. Based solely on classical geometry. Annotation c. Book News, Inc., Portland, OR (booknews.com)

Booknews

"...valuable to robotics researchers, especially those in the areas of robot kinematics and motion planning. Recommended for robot researchers and libraries, it is also useful as a reference book for teaching kinematics or introductory robotics." Applied Mechanics Reviews

From the Publisher