Theory and Applications

  • Jens Wittenburg

Table of contents

  1. Front Matter
    Pages i-xxi
  2. Jens Wittenburg
    Pages 63-84
  3. Jens Wittenburg
    Pages 85-136
  4. Jens Wittenburg
    Pages 137-157
  5. Jens Wittenburg
    Pages 159-203
  6. Jens Wittenburg
    Pages 205-255
  7. Jens Wittenburg
    Pages 257-276
  8. Jens Wittenburg
    Pages 277-287
  9. Jens Wittenburg
    Pages 289-328
  10. Jens Wittenburg
    Pages 329-348
  11. Jens Wittenburg
    Pages 349-357
  12. Jens Wittenburg
    Pages 359-385
  13. Jens Wittenburg
    Pages 387-410
  14. Jens Wittenburg
    Pages 411-449
  15. Jens Wittenburg
    Pages 451-528
  16. Jens Wittenburg
    Pages 529-565
  17. Jens Wittenburg
    Pages 567-637
  18. Jens Wittenburg
    Pages 639-662
  19. Jens Wittenburg
    Pages 663-675
  20. Back Matter
    Pages 677-685

About this book


The book deals with kinematics of mechanisms. It focuses on a solid theoretical foundation and on mathematical methods applicable to the solution of problems of very diverse nature. Applications are demonstrated in a large number of fully worked-out problems. 

In kinematics a wide variety of mathematical tools is applicable. In this book, wherever possible vector equations are formulated instead of lengthy scalar coordinate equations. The principle of transference is applied to problems of very diverse nature.

15 chapters of the book are devoted to spatial kinematics and three chapters to planar kinematics. In Chapt. 19 nonlinear dynamics equations of motion are formulated for general spatial mechanisms. Nearly one half of the book is dealing with position theory and the other half with motion.

The book is intended for use as reference book for researchers and as textbook in advanced courses on kinematics of mechanisms.


kinematics of mechanisms spatial kinematics attitude representation closed kinematic chains overconstrained mechanisms robots Stewart platform kinematic differential equations dynamics of mechanisms kinematic

Authors and affiliations

  • Jens Wittenburg
    • 1
  1. 1.Institut für Technische MechanikKarlsruhe Institute of Technology (KIT)KarlsruheGermany

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2016
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-662-48486-9
  • Online ISBN 978-3-662-48487-6
  • Buy this book on publisher's site
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