Mechanisms

Jaime Gallardo-Alvarado received his Ph.D. degree from the Tecnológico Nacional de México in La Laguna. He is a member of the National System of Researchers of Mexico, and is currently a professor in the Department of Mechanical Engineering at the Tecnológico Nacional de México in Celaya. His areas of interest include kinematics and dynamics of rigid bodies, Lie algebras, screw theory, and robot kinematics. Dr. Gallardo-Alvarado is author of the book “Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory” and has published more than 70 research papers in scientific journals. José Gallardo-Razo received his B.Sc. degree from the Tecnológico Nacional de México in Celaya. He is currently a Design Engineer in ZKW Mexico. His areas of interest cover kinematics, dynamics and control of robot manipulators, mechanical design, and CAD-CAE-CAM.

• PART 1: INTRODUCTION1.Overview of kinematics and its algebras2. Overview of mechanisms and robot manipulatorsPART 2: MATHEMATICAL BACKGROUND3. Linear algebra4. The Lie algebra se(3) of the Euclidean group SE(3)5. Polynomial6. Vector derivativePART 3: GEOMETRY OF MECHANISMS7. Generalities8. Mobility of mechanismsPART 4: DISPLACEMENT9. Closed kinematic chains10. Open kinematic chainsPART 5: VELOCITY11. Angular velocity12. Vectorial method13. Graphical method14. Analytical methodPART 6: ACCELERATION15. Angular acceleration16. Vectorial method17. Analytical methodPART 7: ROBOTICS18. Fundamentals of screw theory19. Robot manipulatorsAPPENDIX A: Maple Sheets

Select Guide Rating