Programa
Summer Screws Lecturers
* Dimiter Zlatanov
University of Genoa, Italy
* Xianwen Kong
Heriot-Watt University, Edinburgh, UK
* Matteo Zoppi
University of Genoa, Genoa, Italy
* Harvey Lipkin
Georgia Institute of Technology, Atlanta, USA
* Roy Featherstone
Australian National University, Canberra, Australia
* Jon Selig
South Bank University, London, UK
Special Invited Lecturer
* Henrique Simas
Federal University of Santa Catarina, Brazil
Tentative Schedule
Day 1: Introduction
15:30 Welcoming and registration
16:00 Introductory remarks
16:30 On the history of screw theory.
Day 2: Twists and Wrenches
08:30 Vector spaces, examples. Linear dependence and independence.
10:30 Dual spaces and scalar products. Systems of freedoms and constraints.
12:30 Lunch break
14:00 Types and classes of screw systems.
Day 3: Type Synthesis
08:30 Constraint analysis. Type synthesis of single loop mechanisms.
10:30 Type synthesis of parallel mechanisms.
12:30 Lunch break
14:00 The virtual chain approach. Open issues.
Day 4: Velocity Analysis
08:30 Geometric and actuated constraints.
10:30 Velocity analysis of parallel mechanisms.
12:30 Lunch break
14:00 Input-output equations of closed loop mechanisms.
Day 5: Day Trip
Day 6: Elasticity
08:30 Generalized coordinates and generalized forces.
10:30 Elasticity modeling with twists and wrenches.
12:30 Lunch break
14:00 Stiffness decomposition.
Day 7: Dynamics
08:30 Differentiation, acceleration. Momentum and inertia.
10:30 Equation of motion of a rigid body.
12:30 Lunch break
14:00 Dynamic models of serial robots. Inverse and forward dynamics of a kinematic tree.
Day 8: The Special Euclidian Group
08:30 Lie groups.
10:30 Lie algebras.
12:30 Lunch break
14:00 Rigid body motions.
Day 9: Closing
08:30 Exam
10:30 Invited Lecture: Inverse position kinematics of closed-chain mechanisms via screw theory
12:00 Panel discussion, Q&A