Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

Part I. General Introduction

1. An Overview of the Theory of Screws
Jaime Gallardo-Alvarado

2. An Overview of Parallel Manipulators
Jaime Gallardo-Alvarado

Part II. Fundamentals of the Theory of Screws

3. Mathematical Background
Jaime Gallardo-Alvarado

4. Velocity Analysis
Jaime Gallardo-Alvarado

Part III. Higher-Order Kinematic Analyses of Rigid Body

5. Acceleration Analysis
Jaime Gallardo-Alvarado

6. Jerk Analysis
Jaime Gallardo-Alvarado

7. Hyper-Jerk Analysis
Jaime Gallardo-Alvarado

Part IV. Kinematics of Parallel Manipulators by Means of Screw Theory Exemplified

8. 3R2T Parallel Manipulator
Jaime Gallardo-Alvarado

9. Two-Degree-of-Freedom Parallel Wrist
Jaime Gallardo-Alvarado

10. 3-RRPS Parallel Manipulator
Jaime Gallardo-Alvarado

11. 3RRRS+3RRPS Parallel Manipulator
Jaime Gallardo-Alvarado

Part V. Emblematic Parallel Manipulators

12. Gough’s Tyre Testing Machine
Jaime Gallardo-Alvarado

13. The Original Stewart Platform
Jaime Gallardo-Alvarado

14. Delta Robot
Jaime Gallardo-Alvarado

Part VI. Solved Exercises

15. Full Answers to Selected Exercises
Jaime Gallardo-Alvarado

16. Appendix 1: A Simple Method to Compute the Rotation Matrix
Jaime Gallardo-Alvarado

17. Appendix 2: Computer Codes
Jaime Gallardo-Alvarado

Avainsanat: Engineering, Machinery and Machine Elements, Robotics and Automation, Continuum Mechanics and Mechanics of Materials