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Author:   Jaime Gallardo-Alvarado
Publisher:   Springer International Publishing AG
Imprint:   Springer International Publishing AG
Edition:   Softcover reprint of the original 1st ed. 2016
Dimensions:   Width: 15.50cm , Height: 2.10cm , Length: 23.50cm
Weight:   6.029kg
ISBN:  

9783319809694

ISBN 10:   3319809695
Pages:   377
Publication Date:   31 May 2018
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand  
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Table of Contents

Part 1. General Introduction.- An Overview of the Theory of Screws.- An Overview of Parallel Manipulators.- Part 2. Fundamentals of the Theory of Screws.- Mathematical Background.- Velocity Analysis.- Part 3. Higher-Order Kinematic Analyses of Rigid Body.- Acceleration Analysis.- Jerk Analysis.- Hyper-Jerk Analysis.- Part 4. Kinematics of Parallel Manipulators by Means of Screw Theory Exemplified.- 3R2T Parallel Manipulator.- Two-Degrees-of-Freedom Parallel Wrist.- 3-RRPS Parallel Manipulator.- 3RRRS+3RRPS Parallel Manipulator.- Part 5. Emblematic Parallel Manipulators.- Tyre Testing Machine of Gough.- The Original Stewart Platform.- Delta Robot.- Appendix A: Full Answers to Selected Exercises.- Appendix B: A Simple Method to Compute the Rotation Matrix.- Appendix C: Computer Codes.- Appendix D: Animations of Novel Parallel Manipulators.

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Author Information

Dr. Jaime Gallardo-Alvarado is Professor in the Department of Mechanical Engineering,Instituto Tecnologico de Celaya, TNM, Mexico

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