Lung-Wen T. Robot Analysis. The mechanics of serial...parallel manipulators 1999

Textbook in PDF format

Complete, state-of-the-art coverage of robot analysis.
This unique book provides the fundamental knowledge needed forunderstanding the mechanics of both serial and parallelmanipulators.
Presenting fresh and authoritative material onparallel manipulators that is not available in any other resource,it offers an in-depth treatment of position analysis, Jacobiananalysis, statics and stiffness analysis, and dynamical analysis ofboth types of manipulators, including a discussion of industrialand research applications