000			01598 a2200253 4500
003			OSt
005			20250219163633.0
008			250219b xxu||||| |||| 00| 0 eng d
020			_a9789811519437
040			_cIIT Kanpur
041			_aeng
082			_a629.892 _bSu71f
100			_aSun, Tao
245			_aFinite and instantaneous screw theory in robotic mechanism _cTao Sun, Shuofei Yang and Binbin Lian
260			_bSpringer _c2020 _aSingapore
300			_axi, 404p
440			_aSpringer Tracts in mechanical engineering
490			_a/ edited by Seung-Bok Choi... [et al.]
520			_aThis book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
650			_aRobotics
700			_aYang, Shuofei
700			_aLian, Binbin
942			_cBK
999			_c567423 _d567423