Robots and Screw Theory: Applications of Kinematics and Statics to Robotics

ISBN-13: 9780198562450 / Angielski / Twarda / 2004 / 480 str.

J. K. Davidson; K. H. Hunt; Joseph K. Davidson

Opis

This book describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed can be applied to both control of robots and the design of their major moving parts. Comprehensive coverage of the screw and its geometry bridges the gap between screw theory and traditional mechanics but no prior knowledge of screw theory is assumed. The reader is introduced to the screw with a simple planar example and progresses to robots that move three-dimensionally. Containing many illustrative examples, over 300 exercises, and a chapter list of references it is ideal for graduate students, researchers and professionals in the field of robotics, robot design and development.

Recenzje

[Davidson and Hunt's] dedication to the analysis of the various cases considered is admirable and the degree of detail that they have expressed makes this work invaluable to those taking final mechanical degrees.

O autorze

Davidson served as Associate Editor of the ASME Journal of Mechanisms, Transmissions, and Automation in Design from 1982-86. He also served one term as a member of the Executive Committee of the International Federation for the Theory of Machines and Mechanisms. Davidson is a Fellow of the American Society of Mechanical Engineers. Davidson is a member of the Robotics & Automation Society of the IEEE. Hunt served on the Honorary Editorial Advisory Board of the Pergamon journal Mechanism and Machine Theory from its inception in 1966 (as the Journal of Mechanisms) until his death in 2002. He was a Founding Executive Councillor of the International Federation for the Theory of Machines and Mechanisms, and he also was the Founding Chairman of the Australian National Committee for IFToMM. Hunt is a Fellow of the American Society of Mechanical Engineers Hunt is a Fellow of the Institution of Mechanical Engineers Hunt is a Fellow of the Institution of Engineers, Australia Hunt is a Fellow of the Australian Academy of Technological Sciences