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008			160616s2016 gw | s |||| 0|eng d
020			_a9783319311265
040			_aES-MaUEC
050		4	_aTJ211.412 _b.G35 2016 EB
082	0	4	_a621.8
100	1		_aGallardo-Alvarado, Jaime _0Local _1http://viaf.org/viaf/1374148632929830630002 _999011
245	1	0	_aKinematic Analysis of Parallel Manipulators by Algebraic Screw Theory _cby Jaime Gallardo-Alvarado
264		1	_aCham _bSpringer International Publishing _c2016
300			_a1 recurso en línea (XXII, 377 páginas) _b96 ilustraciones en color
336			_aTexto (visual) _btxt _2rdacontent
337			_aelectrónico _bc _2rdamedia
338			_arecurso electrónico _bcr _2rdacarrier
505	0		_aPart 1. General Introduction -- An Overview of the Theory of Screws -- An Overview of Parallel Manipulators -- Part 2. Fundamentals of the Theory of Screws -- Mathematical Background -- Velocity Analysis -- Part 3. Higher-Order Kinematic Analyses of Rigid Body -- Acceleration Analysis -- Jerk Analysis -- Hyper-Jerk Analysis -- Part 4. Kinematics of Parallel Manipulators by Means of Screw Theory Exemplified -- 3R2T Parallel Manipulator -- Two-Degrees-of-Freedom Parallel Wrist -- 3-RRPS Parallel Manipulator -- 3RRRS+3RRPS Parallel Manipulator -- Part 5. Emblematic Parallel Manipulators -- Tyre Testing Machine of Gough -- The Original Stewart Platform -- Delta Robot -- Appendix A: Full Answers to Selected Exercises -- Appendix B: A Simple Method to Compute the Rotation Matrix -- Appendix C: Computer Codes -- Appendix D: Animations of Novel Parallel Manipulators.
520			_aThis book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators. 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.
650		7	_aIngeniería mecánica _2embne _9146662
650	0	4	_aMecánica de medios continuos _9111095 _0comprobar BNE19901010811
710	2		_aSpringerLink (Online service) _0Local _0http://id.loc.gov/authorities/names/no2005046756 _1http://viaf.org/viaf/148105729 _9106996
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://link.springer.com/book/10.1007/978-3-319-31126-5 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
901			_ai9783319311265
907			_a.b12950737 _b10-10-17 _c21-11-16
942			_2lcc _cLE
945			_aEBOOK EB _g1 _ieBOOK _j0 _lmae _o- _pEUR0.00 _q- _r- _sb _t15 _u0 _v0 _w0 _x0 _y.i11614390 _z30-06-17
988	0	0	_aEBOOK, EBSPRINGER, GOBI_sep2018
988			_aEbook_one2one
998			_aSI _a_alco _a_vill _b10/2018 _cm _dz _ea _feng _ggw _h0
999			_c85795 _d85795 _x1