Principle of Robot Mechanical System: Theories, Methods, and Algorithms: Theories, Methods, and Algorithms

Author: Ange
Publisher:
Publish Date: 2004-08-01
Features: This book focuses on robotic mechanical systems designed to complete specific tasks, including robotic manipulators, multi-finger dexterous hands, walking robots, parallel robots (flight simulators), and wheeled robots. The goal is to establish the principles of robotic mechanical systems, which play a crucial foundational role in robot design, control, and operation. The book covers the mathematical foundations and fundamentals of rigid body mechanics for entering the field of robotics, making it self-contained and including a number of exercises. The main content includes the kinematics and dynamics of decoupled structure serial manipulators, trajectory planning, determining angular velocity and angular acceleration based on data from points on a rigid body, the forward and inverse kinematics of serial and parallel manipulators, the dynamics of general-structure parallel manipulator platforms, and the kinematics and dynamics of wheeled robots. The book systematically employs screw theory, with clear and detailed explanations. It can serve as a textbook for senior undergraduate and graduate students in relevant fields, as well as a reference for engineering professionals and researchers.