Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

Part 1. General Introduction.- An Overview of the Theory of Screws.- An Overview of Parallel Manipulators.- Part 2. Fundamentals of the Theory of Screws.- Mathematical Background.- Velocity Analysis.- Part 3. Higher-Order Kinematic Analyses of Rigid Body.- Acceleration Analysis.- Jerk Analysis.- Hyper-Jerk Analysis.- Part 4. Kinematics of Parallel Manipulators by Means of Screw Theory Exemplified.- 3R2T Parallel Manipulator.- Two-Degrees-of-Freedom Parallel Wrist.- 3-RRPS Parallel Manipulator.- 3RRRS+3RRPS Parallel Manipulator.- Part 5. Emblematic Parallel Manipulators.- Tyre Testing Machine of Gough.- The Original Stewart Platform.- Delta Robot.- Appendix A: Full Answers to Selected Exercises.- Appendix B: A Simple Method to Compute the Rotation Matrix.- Appendix C: Computer Codes.- Appendix D: Animations of Novel Parallel Manipulators.

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• Robótica
• Mecânica dos sólidos
• Motores e transmissão de energia

Acceleration analysis by means of screw theory;Accelerator;Lie algebras applied to kinematics;Original Gough platform;Original Stewart platform;Reduced acceleration state;Semi-closed form solution;Simplified forward kinematics of parallel manipulators;Singularities of parallel manipulators;Snap analysis