Finite and Instantaneous Screw Theory in Robotic Mechanism

Tao Sun, Shuofei Yang, Binbin Lian (Autoren)

Buch | Hardcover

404 Seiten

2020 | 1st ed. 2020
Springer Verlag, Singapore
978-981-15-1943-7 (ISBN)

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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 appliesto 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.

Tao Sun holds a Ph.D. and is a Professor and Deputy Dean of the School of Mechanical Engineering, Tianjin University, China. He is also the Deputy Director of the Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, China. Professor Sun’s current research focuses on mechanisms and robotics, parallel kinematic robots, bio-inspired robots, orthopedic surgery and rehabilitation robots. He has published 50 SCI cited journal papers.He has been the principle investigator of 16 national/provincial projects and holds 32 patents, and has won several awards for his work. Shuofei Yang obtained his B.S. and Ph.D. degrees from Tianjin University, China, in 2011 and 2017, respectively. He is now a Research Associate in the Department of Industrial and Systems Engineering of The Hong Kong Polytechnic University, China. Dr. Yang's research interests include type synthesis, kinematics, and dynamics of robotic mechanisms. He has published 11 SCI cited journal papers and 1 EI cited journal paper. Binbin Lian holds a Ph.D. and is now an Associate Professor at the School of Mechanical Engineering, Tianjin University, China. Her research interests include performance analysis, optimal design, accuracy improvement, control and application of robotic mechanisms. She has published 25 SCI cited journal papers. In addition, she holds 15 patents.

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.

Erscheinungsdatum	24.02.2020
Reihe/Serie	Springer Tracts in Mechanical Engineering
Zusatzinfo	81 Illustrations, color; 69 Illustrations, black and white; XI, 404 p. 150 illus., 81 illus. in color.
Verlagsort	Singapore
Sprache	englisch
Maße	155 x 235 mm
Themenwelt	Technik ► Elektrotechnik / Energietechnik
Themenwelt	Technik ► Maschinenbau
ISBN-10	981-15-1943-9 / 9811519439
ISBN-13	978-981-15-1943-7 / 9789811519437
Zustand	Neuware