Freedom in Machinery

The work explores the interplay between freedom and constraint in machinery design, emphasizing its relevance to robotics and broader engineering fields. It features a unique combination of diagrammatic illustrations and a rigorously argued text, creating an accessible narrative. Key concepts like screw theory and kinetostatics are discussed, revealing counterintuitive relationships between angular and linear velocities. The paperback edition reflects its lasting appeal, while also linking to the author's later work on spatial mechanisms, showcasing the ongoing evolution of engineering practices.