1. Introduction -- 2. A brief introduction to screw theory -- 3. Twists and wrenches of a kinematic chain -- 4. Free motion of the end effector of a robot mechanism -- 5. Workspace of the end effector of a robot mechanism -- 6. Singularity analysis of the end effector of a mechanism within its workspace -- 7. Kinematics with four points' Cartesian coordinates for spatial parallel manipulator -- 8. Kinematics and statics of manipulators -- 9. Fundamental factors to investigating the motions and actuations of a mechanism -- 10. Motion characteristics of a robotic mechanism -- 11. Mechanism theory and application of deployable structures based on scissor-like elements -- 12. Structure synthesis of spatial mechanisms -- 13. Workspace synthesis of spatial mechanisms -- 14. Kinematic synthesis of spatial mechanisms.
Summary
Provides a complete analytical approach to the invention of new robot mechanisms and the analysis of existing designs based on a unified mathematical description of the kinematic and geometric constraints of mechanisms.
