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.
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Table of Contents
PART 1: INTRODUCTION
1.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: DISPLACEMENT
9. Closed kinematic chains
10. Open kinematic chains
PART 5: VELOCITY
11. Angular velocity
12. Vectorial method
13. Graphical method
14. Analytical method
PART 6: ACCELERATION
15. Angular acceleration
16. Vectorial method
17. Analytical method
PART 7: ROBOTICS
18. Fundamentals of screw theory
19. Robot manipulators
APPENDIX A: Maple Sheets
