Kinematic

This up-to-date introduction to kinematic analysis ensures relevance by using actual machines and mechanisms throughout.

This textbook covers classical geometrical methods and modern analytical methods in kinematic synthesis of mechanisms. The methods discussed are all implemented geometrically using Geogebra and analytically using Excel®; two readily available tools for personal computers. After a brief history on how the machine science has developed throughout history from the viewpoint of mechanism design, the chapters explain two, three, four and five position synthesis of mechanisms in detail respectively. Geometrical and analytical methods of guiding a rigid body between the given positions, path generation with prescribed timing and correlation of crank angles are covered. Analytical methods are explained using complex numbers.

Authors: Gallardo-Alvarado, Jaime
Stands as the only book devoted to the acceleration, jerk and hyper-jerk (snap) analyses of rigid-body by means of screw theory
Provides new strategies to simplify the forward kinematics of parallel manipulators that can be easily implemented by non-experts in robot kinematics
Provides readers the opportunity to extend the theory of screws into the desired order of kinematic analysis in approaching open problems, e.g. the correct characterization of singularities in closed kinematic chains
Includes numerous end of chapter problems and solutions to illustrate concepts presented