Screw Theory and its Application to Spatial Robot Manipulators

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.

• Uses basic linear algebra and algebraic geometry to study screw theory based on its building blocks of points, lines, and planes
• Emphasizes geometry to show a symmetry or a duality between the sciences of statics and kinematics
• Provides a complete array of possibilities for proposing robot or mechanism movements and structures