Statics and Kinematics with Applications to Robotics

Statics & Kinematics with Application to Robotics [Joseph Duffy]......Page cover_0001.djvu
Title......Page all_28726_to_00192.cpc0005.djvu
Copyright......Page all_28726_to_00192.cpc0006.djvu
Dedication......Page all_28726_to_00192.cpc0007.djvu
Contents......Page all_28726_to_00192.cpc0009.djvu
Preface......Page all_28726_to_00192.cpc0013.djvu
Introduction......Page all_28726_to_00192.cpc0017.djvu
1.1 Mechanisms and manipulators......Page all_28726_to_00192.cpc0021.djvu
1.2 The mobility of planar mechanisms and manipulators......Page all_28726_to_00192.cpc0027.djvu
1.3 Displacement analysis of single degree of freedom planar manipulators......Page all_28726_to_00192.cpc0029.djvu
1.4 Displacement analysis of two-link serial manipulators......Page all_28726_to_00192.cpc0030.djvu
1.5 Analysis of 3R and 2R-P three-link serial manipulators......Page all_28726_to_00192.cpc0039.djvu
1.6 Analysis of 2P-R three-link serial manipulators......Page all_28726_to_00192.cpc0048.djvu
1.7 Analysis of redundant-serial manipulators with four or more kinematic pairs......Page all_28726_to_00192.cpc0049.djvu
1.8 Displacement analysis of in-parallel manipulators......Page all_28726_to_00192.cpc0050.djvu
2.1 The coordinates of a line in the XY plane......Page all_28726_to_00192.cpc0056.djvu
2.2 The coordinates for the point of intersection of a pair of lines......Page all_28726_to_00192.cpc0064.djvu
2.3 The statics of plane rigid systems......Page all_28726_to_00192.cpc0065.djvu
2.4 Parallel translation  and rotation of rectangular coordinate systems......Page all_28726_to_00192.cpc0072.djvu
2.5 Induced force-line transformation under the Euclidean group......Page all_28726_to_00192.cpc0080.djvu
2.6 A useful vector representation of a force......Page all_28726_to_00192.cpc0082.djvu
2.7 The statics of a parallel manipulator......Page all_28726_to_00192.cpc0083.djvu
2.8 The geometrical meaning of j^-1......Page all_28726_to_00192.cpc0088.djvu
2.9 Singularity configurations of a parallel manipulator......Page all_28726_to_00192.cpc0091.djvu
2.10 Statically redundant parallel manipulators......Page all_28726_to_00192.cpc0096.djvu
3.1 The definition of a rotor......Page all_28726_to_00192.cpc0098.djvu
3.2 The coordinates of a line parallel to the Z axis......Page all_28726_to_00192.cpc0099.djvu
3.3 A useful vector representation of a rotor......Page all_28726_to_00192.cpc0101.djvu
3.4 Infinitesimal displacements of a rigid lamina......Page all_28726_to_00192.cpc0103.djvu
3.5 A representation of pure translation......Page all_28726_to_00192.cpc0104.djvu
3.6 Ray and axis coordinates of a line and a rotor......Page all_28726_to_00192.cpc0105.djvu
3.7 Translation and rotation of coordinate systems......Page all_28726_to_00192.cpc0107.djvu
3.9 Relationship between [e] and [E]......Page all_28726_to_00192.cpc0109.djvu
3.10 The first-order instantaneous kinematics of a 3R serial manipulator......Page all_28726_to_00192.cpc0110.djvu
3.11 The geometrical meaning of J^-1......Page all_28726_to_00192.cpc0113.djvu
3.12 Singularity configurations of a serial manipulator......Page all_28726_to_00192.cpc0118.djvu
3.13 Kinematics of redundant serial manipulators......Page all_28726_to_00192.cpc0122.djvu
3.14 First-order instantaneous kinematics of a closed-loop 4R mechanism......Page all_28726_to_00192.cpc0123.djvu
3.15 Instantaneous kinematics of a 3R serial manipulator using displacement equations......Page all_28726_to_00192.cpc0128.djvu
4.1 Introduction......Page all_28726_to_00192.cpc0133.djvu
4.2 Mutual moment, instantaneous power, and instantaneous work......Page all_28726_to_00192.cpc0134.djvu
4.3 A static analysis of a planar serial manipulator......Page all_28726_to_00192.cpc0145.djvu
4.4 A static analysis of a parallel manipulator with RPR and 3R kinematic chains......Page all_28726_to_00192.cpc0152.djvu
4.5 A kinematic analysis of a parallel manipulator......Page all_28726_to_00192.cpc0156.djvu
4.6 Instantaneous kinematics of parallel manipulators in singularity configurations......Page all_28726_to_00192.cpc0162.djvu
4.7 An infinitesimal displacement analysis for a parallel manipulator......Page all_28726_to_00192.cpc0164.djvu
4.8 The differential of a line......Page all_28726_to_00192.cpc0167.djvu
5.1 A derivation of the stiffness mapping......Page all_28726_to_00192.cpc0169.djvu
5.2 The dimensions of the elements of the stiffness matrix......Page all_28726_to_00192.cpc0173.djvu
5.3 the stiffness mapping of a planar two-spring system......Page all_28726_to_00192.cpc0175.djvu
5.4 Force and motion control using a serial manipulator with a compliant wrist......Page all_28726_to_00192.cpc0180.djvu
5.5 A note on the stability of spring systems......Page all_28726_to_00192.cpc0184.djvu
References......Page all_28726_to_00192.cpc0187.djvu
Index......Page all_28726_to_00192.cpc0189.djvu