Screw Theory and its Application to Spatial Robot Manipulators

Understand the geometry embedded within robots and mechanisms using classical screw theory and analytical geometry with this essential text.

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

9780521630894, Cambridge University Press

Hardback, published 15 September 2022

238 pages
25 x 17.1 x 1.6 cm, 0.55 kg

Discover a fresh take on classical screw theory and understand the geometry embedded within robots and mechanisms with this essential text. The book begins with a geometrical study of points, lines, and planes and slowly takes the reader toward a mastery of screw theory with some cutting-edge results, all while using only basic linear algebra and ordinary vectors. It features a discussion of the geometry of parallel and serial robot manipulators, in addition to the reciprocity of screws and a singularity study. All 41 essential screw systems are unveiled, establishing the possible freedom twists and constraint wrenches for a kinematic joint. Familiarizing the reader with screw geometry in order to study the statics and kinematics of robots and mechanisms, this is a perfect resource for engineers and graduate students.

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.

Subject Areas: Mechanical engineering [TGB], Mechanical engineering & materials [TG], Technology, engineering, agriculture [T]