Screw Theory and its Application to Spatial Robot Manipulators

Carl D. Crane, III; Michael Griffis; Joseph Duffy

doi:10.1017/9781139019217

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This Book has been cited by the following publications. This list is generated based on data provided by Crossref.

Antonov, Anton and Fomin, Alexey 2023. New Advances in Mechanisms, Transmissions and Applications. Vol. 124, Issue. , p. 161.

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Antonov, Anton V. and Fomin, Alexey S. 2025. A Screw Theory Approach for Instantaneous Kinematic Analysis of Parallel–Serial Manipulators. Journal of Mechanisms and Robotics, Vol. 17, Issue. 3,

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

Publisher:: Cambridge University Press
Online publication date:: September 2022
Print publication year:: 2022
Online ISBN:: 9781139019217
DOI:: https://doi.org/10.1017/9781139019217

Subjects:: Engineering, Engineering Design, Kinematics, and Robotics, Computer Science, Computer Graphics, Image Processing and Robotics

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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.

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Screw Theory and its Application to Spatial Robot Manipulators

This Book has been cited by the following publications. This list is generated based on data provided by Crossref.

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Contents

Frontmatter
pp i-iv

Dedication
pp v-vi

Contents
pp vii-x

Preface
pp xi-xiv

1 - Geometry of Points, Lines, and Planes
pp 1-35

2 - Coordinate Transformations and Manipulator Kinematics
pp 36-65

3 - Statics of a Rigid Body
pp 66-107

4 - Velocity Analysis
pp 108-141

5 - Reciprocal Screws
pp 142-167

6 - Singularity Analysis of Serial Chains
pp 168-180

7 - Acceleration Analysis of Serially Connected Rigid Bodies
pp 181-201

Appendix A Derivation of Cylindroid Equations
pp 202-206

Bibliography
pp 207-207

Index
pp 208-208

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Screw Theory and its Application to Spatial Robot Manipulators

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