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005 20220916175539.0
010   $a981-15-1944-7
024 7 $a10.1007/978-981-15-1944-4
035   $a(CKB)4100000010328271
035   $a(MiAaPQ)EBC6109824
035   $a(DE-He213)978-981-15-1944-4
035   $a(PPN)243770650
035   $a(EXLCZ)994100000010328271
100   $a20200213d2020      fy         0
101 0 $aeng
135   $aurcnu||||||||
181   $ctxt$2rdacontent
182   $cc$2rdamedia
183   $acr$2rdacarrier
200 10$aFinite and instantaneous screw theory in robotic mechanism /$fTao Sun, Shuofei Yang, Binbin Lian
205   $a1st edition 2020.
210  1$aSingapore :$cSpringer Singapore :$cImprint: Springer,$d2020.
215   $a1 online resource (411 pages)
225 1 $aSpringer Tracts in Mechanical Engineering,$x2195-9862
311   $a981-15-1943-9 
327   $aIntroduction -- 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.
330   $aThis book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and applies to the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
410  0$aSpringer Tracts in Mechanical Engineering,$x2195-9862
606   $aAutomatic control
606   $aRobotics
606   $aMechatronics
606   $aVibration
606   $aDynamics
606   $aDynamics
606   $aEngineering design
615  0$aAutomatic control.
615  0$aRobotics.
615  0$aMechatronics.
615  0$aVibration.
615  0$aDynamics.
615  0$aDynamics.
615  0$aEngineering design.
676   $a629.892
700   $aSun$b Tao$c(Mechanical engineer)$4aut$4http://id.loc.gov/vocabulary/relators/aut$01103303
702   $aYang$b Shuofei$4aut$4http://id.loc.gov/vocabulary/relators/aut
702   $aLian$b Binbin$4aut$4http://id.loc.gov/vocabulary/relators/aut
801  0$bMiAaPQ
801  1$bMiAaPQ
801  2$bMiAaPQ
906   $aBOOK
912   $a9910483408103321
996   $aFinite and Instantaneous Screw Theory in Robotic Mechanism$92850278
997   $aUNINA