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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.
List of contents
PART 1: INTRODUCTION1.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: DISPLACEMENT9. Closed kinematic chains
10. Open kinematic chains
PART 5: VELOCITY
11. Angular velocity
12. Vectorial method
13. Graphical method
14. Analytical method
PART 6: ACCELERATION15. Angular acceleration
16. Vectorial method
17. Analytical method
PART 7: ROBOTICS18. Fundamentals of screw theory
19. Robot manipulators
APPENDIX A: Maple Sheets
About the author
Jaime Gallardo-Alvarado received his Ph.D. degree from the Tecnológico Nacional de México in La Laguna. He is a member of the National System of Researchers of Mexico, and is currently a professor in the Department of Mechanical Engineering at the Tecnológico Nacional de México in Celaya. His areas of interest include kinematics and dynamics of rigid bodies, Lie algebras, screw theory, and robot kinematics. Dr. Gallardo-Alvarado is author of the book “Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory” and has published more than 70 research papers in scientific journals.José Gallardo-Razo received his B.Sc. degree from the Tecnológico Nacional de México in Celaya. He is currently a Design Engineer in ZKW Mexico. His areas of interest cover kinematics, dynamics and control of robot manipulators, mechanical design, and CAD-CAE-CAM.
