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By Jingshan Zhao

Advanced conception of Constraint and movement research for robotic Mechanisms offers a whole analytical method of the discovery of recent robotic mechanisms and the research of current designs according to a unified mathematical description of the kinematic and geometric constraints of mechanisms.

Beginning with a excessive point advent to mechanisms and elements, the ebook strikes directly to current a brand new analytical concept of terminal constraints to be used within the improvement of recent spatial mechanisms and buildings. It truly describes the appliance of screw concept to kinematic difficulties and gives instruments that scholars, engineers and researchers can use for research of serious components resembling workspace, dexterity and singularity.

  • Combines constraint and loose movement research and layout, supplying a brand new method of robotic mechanism innovation and improvement
  • Clearly describes using screw concept in robotic kinematic research, making an allowance for concise illustration of movement and static forces compared to traditional research methods
  • Includes labored examples to translate idea into perform and show the applying of latest analytical how to serious robotics problems

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Extra resources for Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms

Example text

Reciprocal product of two screws. 97), the reciprocal product of screws $1 and $2 is M12 = $1T $2 = s1 · de3 × s2 + h 2 s2 + h 1 s1 · s2 = h 1 + h 2 s1 · s2 + ds1 · e3 × s2 . 6, the following equations hold s1 · s2 = cosα s1 · e3 × s2 = −sinα. 104) yields M12 = $1T $2 = h 1 + h 2 cosα − dsinα. 106) M12 is called the reciprocal distance between $1 and $2 . h 1 + h 2 cos α − d sin α is called the virtual coefficient by Ball [4]. 98), if $1 and $2 are reciprocal screws, we have 1 2 h 1 + h 2 cos α − d sin α = 0.

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