Screw Theory and Its Application to Spatial Robot Manipulators

Understand the geometry embedded within robots and mechanisms using classical screw theory. Starting with points, lines, planes, vectors and linear algebra, and familiarizing the reader with screw geometry in order to study statics and kinematics of robots and mechanisms, this is a perfect resource for engineers and graduate students.

List of contents

1. Geometry of points, lines, and planes; 2. Coordinate transformations and manipulator kinematics; 3. Statics of a rigid body; 4. Velocity analysis; 5. Reciprocal screws; 6. Singularity analysis of serial chains; 7. Acceleration analysis of serially connected rigid bodies.

About the author

Carl Crane is Professor in the Department of Mechanical and Aerospace Engineering at the University of Florida. He is a fellow of the ASME.Michael Griffis is Senior Lecturer at the University of Florida.Joseph Duffy was a great kinematician who passionately promoted screw theory. He was the Director of the Center for Intelligent Machines and Robotics at the University of Florida and a Graduate Research Professor, who taught screw theory. He received countless awards, including the ASME Machine Design Award in 2000.

Product details

• Authors: Carl D. Crane, III Crane, Carl D. Crane III, Joseph Duffy, Joseph (University of Florida) Duffy, Joseph Crane Duffy, Duffy Joseph, Michael Griffis, Michael (University of Florida) Griffis, Griffis Michael
• Publisher: Cambridge University Press ELT
• Languages: English
• Product format: Hardback
• Released: 31.07.2022
• EAN: 9780521630894
• ISBN: 978-0-521-63089-4
• No. of pages: 238
• Subjects: Natural sciences, medicine, IT, technology > Technology > Mechanical engineering, production engineering; Materials science, TECHNOLOGY & ENGINEERING / Materials Science / General, Dynamics & vibration