The book "Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms" by Jorge Angeles is a comprehensive resource on the mechanics of robotic systems. It is part of the Mechanical Engineering Series, edited by Frederick F. Ling, and covers a broad range of topics essential for understanding and designing robotic mechanical systems. The book is divided into two main parts: an introductory part and an intermediate part. The introductory part provides an overview of robotic mechanical systems, including their structure, types, and applications. It also covers the mathematical background necessary for understanding the mechanics of these systems, such as linear transformations, rigid-body rotations, and coordinate transformations. The first chapter introduces the notation and basic concepts, while the second chapter delves into the kinematics of robotic manipulators, including the Denavit-Hartenberg notation and the inverse kinematics problem. The intermediate part focuses on more advanced topics, such as the dynamics of robotic manipulators, trajectory planning, and the kinematics of complex robotic systems. It includes detailed discussions on the recursive Newton-Euler algorithm, multibody dynamics, and the dynamics of parallel manipulators and rolling robots. The book also addresses special topics like the computation of angular velocity and acceleration from point data, and the kinematics of complex robotic systems, including parallel manipulators, multifingered hands, and walking machines. The book is designed to serve as both a textbook for a one-year robotics course and a reference for practicing engineers. It assumes some familiarity with engineering mathematics and elementary mechanics, but the necessary background is provided in the first three chapters. The book includes appendices on kinematics of rotations and numerical solutions of linear algebraic systems, and concludes with a set of exercises and references.The book "Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms" by Jorge Angeles is a comprehensive resource on the mechanics of robotic systems. It is part of the Mechanical Engineering Series, edited by Frederick F. Ling, and covers a broad range of topics essential for understanding and designing robotic mechanical systems. The book is divided into two main parts: an introductory part and an intermediate part. The introductory part provides an overview of robotic mechanical systems, including their structure, types, and applications. It also covers the mathematical background necessary for understanding the mechanics of these systems, such as linear transformations, rigid-body rotations, and coordinate transformations. The first chapter introduces the notation and basic concepts, while the second chapter delves into the kinematics of robotic manipulators, including the Denavit-Hartenberg notation and the inverse kinematics problem. The intermediate part focuses on more advanced topics, such as the dynamics of robotic manipulators, trajectory planning, and the kinematics of complex robotic systems. It includes detailed discussions on the recursive Newton-Euler algorithm, multibody dynamics, and the dynamics of parallel manipulators and rolling robots. The book also addresses special topics like the computation of angular velocity and acceleration from point data, and the kinematics of complex robotic systems, including parallel manipulators, multifingered hands, and walking machines. The book is designed to serve as both a textbook for a one-year robotics course and a reference for practicing engineers. It assumes some familiarity with engineering mathematics and elementary mechanics, but the necessary background is provided in the first three chapters. The book includes appendices on kinematics of rotations and numerical solutions of linear algebraic systems, and concludes with a set of exercises and references.