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Screw Theory and its Application to Spatial Robot Manipulators by Carl D. Crane, III (University of Florida) at Abbey's Bookshop,
Screw Theory and its Application to Spatial Robot Manipulators
— —
Carl D. Crane, III (University of Florida) Michael Griffis (University of Florida)

Screw Theory and its Application to Spatial Robot Manipulators

Carl D. Crane, III (University of Florida),  Michael Griffis (University of Florida),  Joseph Duffy (University of Florida)

$207.95

Hardback

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English
Cambridge University Press
15 September 2022
Dynamics & vibration
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.
By:   , ,
Imprint:   Cambridge University Press
Country of Publication:   United Kingdom
Edition:   New edition
Dimensions:   Height: 250mm,  Width: 171mm,  Spine: 16mm
Weight:   550g
ISBN:   9780521630894
ISBN 10:   0521630894
Pages:   238
Publication Date:  
Audience:   College/higher education ,  Primary
Format:   Hardback
Publisher's Status:   Active
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.

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.

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