Robot Analysis: The Mechanics of Serial and Parallel Manipulators Robot Analysis: The Mechanics of Serial and Parallel Manipulators
Lung-Wen Tsai

ISBN: 0-471-32593-7
Hardcover
520 pages
March 1999

Description

Complete, state-of-the-art coverage of robot analysis.

This unique book provides the fundamental knowledge needed for understanding the mechanics of both serial and parallel manipulators. Presenting fresh and authoritative material on parallel manipulators that is not available in any other resource, it offers an in-depth treatment of position analysis, Jacobian analysis, statics and stiffness analysis, and dynamical analysis of both types of manipulators, including a discussion of industrial and research applications. It also features:

* The homotopy continuation method and dialytic elimination method for solving polynomial systems that apply to robot kinematics
* Numerous worked examples and problems to reinforce learning
* An extensive bibliography offering many resources for more advanced study

Drawing on Dr. Lung-Wen Tsai's vast experience in the field as well as recent research publications, Robot Analysis is a first-rate text for upper-level undergraduate and graduate students in mechanical engineering, electrical engineering, and computer studies, as well as an excellent desktop reference for robotics researchers working in industry or in government.

Table of Contents

1. Position Analysis of Serial Manipulators.
2. Position Analysis of Parallel Manipulators.
3. Jacobian Analysis of Serial Manipulators.
4. Jacobian Analysis of Parallel Manipulators.
5. Statics and Stiffness Analysis.
6. Wrist Mechanisms.
7. Tendon-Driven Manipulators.
8. Dynamics of Serial Manipulators.
9. Dynamics of Parallel Manipulators.
10. Appendices.
11. Index.

Author Information

        LUNG-WEN TSAI, PhD, is a professor in the Department of Mechanical Engineering and the Institute for Systems Research at the University of Maryland in College Park, Maryland. He received his PhD from Stanford University in 1973 and has had an extensive career in engineering, education, and industry. He is a fellow of the ASME. An internationally recognized expert in automotive engineering, mechanisms and machine theory, and robot manipulators, he is well published in leading robotics journals, including numerous articles in the Journal of Robotics Systems (Wiley), the ASME Journal of Mechanical Design, and IEEE Transactions on Robotics and Automation.