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Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

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Cover of 'Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory'

Table of Contents

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    Book Overview
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    Chapter 1 An Overview of the Theory of Screws
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    Chapter 2 An Overview of Parallel Manipulators
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    Chapter 3 Mathematical Background
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    Chapter 4 Velocity Analysis
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    Chapter 5 Acceleration Analysis
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    Chapter 6 Jerk Analysis
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    Chapter 7 Hyper-Jerk Analysis
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    Chapter 8 3R2T Parallel Manipulator
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    Chapter 9 Two-Degree-of-Freedom Parallel Wrist
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    Chapter 10 3-RRPS Parallel Manipulator
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    Chapter 11 3RRRS+3RRPS Parallel Manipulator
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    Chapter 12 Gough’s Tyre Testing Machine
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    Chapter 13 The Original Stewart Platform
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    Chapter 14 Delta Robot
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    Chapter 15 Full Answers to Selected Exercises
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    Chapter 16 Appendix 1: A Simple Method to Compute the Rotation Matrix
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    Chapter 17 Appendix 2: Computer Codes
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