Theory of mechanisms is an applied science of mechanics that studies the relationship between geometry, mobility, topology, and relative motion between rigid bodies connected by geometric forms. Recently, knowledge in kinematics and mechanisms has considerably increased, causing a renovation in the methods of kinematic analysis. With the progress of the algebras of kinematics and the mathematical methods used in the optimal solution of polynomial equations, it has become possible to formulate and elegantly solve problems.
Mechanisms: Kinematic Analysis and Applications in Robotics provides an updated approach to kinematic analysis methods and a review of the mobility criteria most used in planar and spatial mechanisms. Applications in the kinematic analysis of robot manipulators complement the material presented in the book, growing in importance when one recognizes that kinematics is a basic area in the control and modeling of robot manipulators.
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Table of Contents
PART 1: INTRODUCTION 1.Overview of kinematics and its algebras 2. Overview of mechanisms and robot manipulators
PART 2: MATHEMATICAL BACKGROUND 3. Linear algebra 4. The Lie algebra se(3) of the Euclidean group SE(3) 5. Polynomial 6. Vector derivative
PART 3: GEOMETRY OF MECHANISMS 7. Generalities 8. Mobility of mechanisms
PART 4: DISPLACEMENT 9. Closed kinematic chains 10. Open kinematic chains
PART 5: VELOCITY 11. Angular velocity 12. Vectorial method 13. Graphical method 14. Analytical method
PART 6: ACCELERATION 15. Angular acceleration 16. Vectorial method 17. Analytical method
PART 7: ROBOTICS 18. Fundamentals of screw theory 19. Robot manipulators
APPENDIX A: Maple Sheets
