Kinematic Analysis of Robot Manipulators

Introduction to robot manipulators, with case studies of industrial robots.

Carl D. Crane, III (Author), Joseph Duffy (Author)

9780521047937, Cambridge University Press

Paperback / softback, published 3 January 2008

444 pages, 66 b/w illus. 62 tables
25.3 x 17.7 x 2.2 cm, 0.774 kg

'The book meets the need for a thorough analysis of the structure and mobility of serial manipulators and will be useful to both graduate students and engineers working in the field of robotics.' Engineering Designer

A robot manipulator is a movable chain of links interconnected by joints. One end is fixed to the ground, and a hand or end effector that can move freely in space is attached at the other end. This book begins with an introduction to the subject of robot manipulators. Next, it describes in detail a forward and reverse analysis for serial robot arms. Most of the text focuses on closed form solution techniques applied to a broad range of manipulator geometries, from typical industrial robot designs (relatively simple geometries) to the most complicated case of seven general links serially connected by six revolute joints. A unique feature is its detailed analysis of 6R-P and 7R mechanisms. Case studies show how the techniques described in the book are used in real engineering applications. The book will be useful to both graduate students and engineers working in the field of robotics.

Preface
1. Introduction
2. Coordinate transformations
3. Manipulator kinematics
4. Forward kinematic analysis
5. Reverse kinematic analysis problem statement
6. Spherical closed-loop mechanisms
7. Displacement analysis of group 1 spatial mechanisms
8. Group 2 spatial mechanisms
9. Group 3 spatial mechanisms
10. Group 4 spatial mechanisms
11. Case studies
12. Quaternions
Appendix
References
Index.

Subject Areas: Dynamics & vibration [TGMD4]