This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

Latest results in an active field Balance between theory and practice Recommended supplementary course text Includes supplementary material: sn.pub/extras

Inhalt
Preface.- Kinematics of Rigid Bodies.- Mechanisms.- Serial Mechanisms.- Evaluation of Mechanisms.- Singular Planes and Dexterous Robot Mechanisms.- Redundant Mechanisms.- Parallel Mechanisms.- Robot Contact.- Robot Grasp.- Kinematic Model of the Human Hand.-Index.