03455nam 22006135 450 991048340810332120220916175539.0981-15-1944-710.1007/978-981-15-1944-4(CKB)4100000010328271(MiAaPQ)EBC6109824(DE-He213)978-981-15-1944-4(PPN)243770650(EXLCZ)99410000001032827120200213d2020 fy 0engurcnu||||||||txtrdacontentcrdamediacrrdacarrierFinite and instantaneous screw theory in robotic mechanism /Tao Sun, Shuofei Yang, Binbin Lian1st edition 2020.Singapore :Springer Singapore :Imprint: Springer,2020.1 online resource (411 pages)Springer Tracts in Mechanical Engineering,2195-9862981-15-1943-9 Introduction -- Finite and Instantaneous Screw Theory -- Topology and Performance Modeling of Robotic Mechanisms -- Type Synthesis Method and Procedures of Robotic Mechanisms -- Type Synthesis of Mechanisms with Invariable Rotation Axes -- Type Synthesis of Mechanisms with Variable Rotation Axes -- Kinematic Modeling and Analysis of Robotic Mechanisms -- Static Modeling and Analysis of Robotic Mechanisms -- Dynamic Modeling and Analysis of Robotic Mechanisms -- Optimal Design of Robotic Mechanisms -- Synthesis, Analysis and Design of typical robotic mechanisms -- Kinematic Calibration of Robotic Mechanisms -- References.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 applies to 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.Springer Tracts in Mechanical Engineering,2195-9862Automatic controlRoboticsMechatronicsVibrationDynamicsDynamicsEngineering designAutomatic control.Robotics.Mechatronics.Vibration.Dynamics.Dynamics.Engineering design.629.892Sun Tao(Mechanical engineer)authttp://id.loc.gov/vocabulary/relators/aut1103303Yang Shuofeiauthttp://id.loc.gov/vocabulary/relators/autLian Binbinauthttp://id.loc.gov/vocabulary/relators/autMiAaPQMiAaPQMiAaPQBOOK9910483408103321Finite and Instantaneous Screw Theory in Robotic Mechanism2850278UNINA