Freedom in Machinery: Volume 2, Screw Theory Exemplified

The explanation of "screw theory" in this second volume is applied to the analysis and synthesis of mechanism in general and also to the problems of real machine design. Because it is wholly three dimensional (and difficult to grasp if presented by mathematics alone), this text presents screw theory with the help of carefully drawn geometric figures that transport the reader directly into the three-dimensional domain. The text is primarily a fundamental work in the area of the kineostatics of mechanism, a combination of the kinematics of the motions of and the statistics of the forces between rigid bodies in contact. It is also a seminal work of importance for the mechanical design of robots, both the relatively simple robots of today and the much more versatile robots of the future. This will be a highly informative guide for students and researchers, engineers, physicists, computer scientists, and industrial designers in robot design and development.