Dynamics Of Parallel Robots
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Dynamics Of Parallel Robots
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Author : Sébastien Briot
language : en
Publisher: Springer
Release Date : 2015-06-22
Dynamics Of Parallel Robots written by Sébastien Briot and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-06-22 with Technology & Engineering categories.
This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimaltrajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
Parallel Robots
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Author : Hamid D. Taghirad
language : en
Publisher: CRC Press
Release Date : 2013-02-20
Parallel Robots written by Hamid D. Taghirad and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-02-20 with Technology & Engineering categories.
Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics
Dynamics Of Parallel Robots
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Author : Stefan Staicu
language : en
Publisher: Springer
Release Date : 2018-09-14
Dynamics Of Parallel Robots written by Stefan Staicu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-09-14 with Technology & Engineering categories.
This book establishes recursive relations concerning kinematics and dynamics of constrained robotic systems. It uses matrix modeling to determine the connectivity conditions on the relative velocities and accelerations in order to compare two efficient energetic ways in dynamics modeling: the principle of virtual work, and the formalism of Lagrange's equations. First, a brief fundamental theory is presented on matrix mechanics of the rigid body, which is then developed in the following five chapters treating matrix kinematics of the rigid body, matrix kinematics of the composed motion, kinetics of the rigid body, dynamics of the rigid body, and analytical mechanics. By using a set of successive mobile frames, the geometrical properties and the kinematics of the vector system of velocities and accelerations for each element of the robot are analysed. The dynamics problem is solved in two energetic ways: using an approach based on the principle of virtual work and applying the formalism of Lagrange's equations of the second kind. These are shown to be useful for real-time control of the robot's evolution. Then the recursive matrix method is applied to the kinematics and dynamics analysis of five distinct case studies: planar parallel manipulators, spatial parallel robots, planetary gear trains, mobile wheeled robots and, finally, two-module hybrid parallel robots.
Cable Driven Parallel Robots
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Author : Andreas Pott
language : en
Publisher: Springer
Release Date : 2018-03-27
Cable Driven Parallel Robots written by Andreas Pott and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-03-27 with Technology & Engineering categories.
Cable-driven parallel robots are a new kind of lightweight manipulators with excellent scalability in terms of size, payload, and dynamics capacities. For the first time, a comprehensive compendium is presented of the field of cable-driven parallel robots. A thorough theory of cable robots is setup leading the reader from first principles to the latest results in research. The main topics covered in the book are classification, terminology, and fields of application for cable-driven parallel robots. The geometric foundation of the standard cable model is introduced followed by statics, force distribution, and stiffness. Inverse and forward kinematics are addressed by elaborating efficient algorithms. Furthermore, the workspace is introduced and different algorithms are detailed. The book contains the dynamic equations as well as simulation models with applicable parameters. Advanced cable models are described taking into account pulleys, elastic cables, and sagging cables. For practitioner, a descriptive design method is stated including methodology, parameter synthesis, construction design, component selection, and calibration. Rich examples are presented by means of simulation results from sample robots as well as experimental validation on reference demonstrators. The book contains a representative overview of reference demonstrator system. Tables with physical parameters for geometry, cable properties, and robot parameterizations support case studies and are valuable references for building custom cable robots. For scientist, the book provides the starting point to address new scientific challenges as open problems are named and a commented review of the literature on cable robot with more than 500 references are given.
Dynamics Of Parallel Robots
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Author : Sébastien Briot
language : en
Publisher:
Release Date : 2015
Dynamics Of Parallel Robots written by Sébastien Briot and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015 with categories.
This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
Parallel Robots
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Author : Hamid D. Taghirad
language : en
Publisher: CRC Press
Release Date : 2013-02-20
Parallel Robots written by Hamid D. Taghirad and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-02-20 with Technology & Engineering categories.
Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics
Parallel Manipulators
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Author : Jee-Hwan Ryu
language : en
Publisher: BoD – Books on Demand
Release Date : 2008-04-01
Parallel Manipulators written by Jee-Hwan Ryu and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-04-01 with Computers categories.
Parallel manipulators are characterized as having closed-loop kinematic chains. Compared to serial manipulators, which have open-ended structure, parallel manipulators have many advantages in terms of accuracy, rigidity and ability to manipulate heavy loads. Therefore, they have been getting many attentions in astronomy to flight simulators and especially in machine-tool industries.The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in parallel manipulators. This book mainly introduces advanced kinematic and dynamic analysis methods and cutting edge control technologies for parallel manipulators. Even though this book only contains several samples of research activities on parallel manipulators, I believe this book can give an idea to the reader about what has been done in the field recently, and what kind of open problems are in this area.
Parallel Robots
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Author : J.P. Merlet
language : en
Publisher: Springer
Release Date : 2010-11-25
Parallel Robots written by J.P. Merlet and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-11-25 with Technology & Engineering categories.
Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 150 exercises and numerous internet addresses), researchers (with over 650 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results, mistakes to avoid, and applications are presented). Since the publication of the first edition (2000) there has been an impressive increase in terms of study and use of this kind of structure that are reported in this book. This second edition has been completely overhauled. The initial chapter on kinematics has been split into Inverse Kinematics and Direct Kinematics. A new chapter on calibration was added. The other chapters have also been rewritten to a large extent. The reference section has been updated to include around 45% new works that appeared after the first edition.
Serial And Parallel Robot Manipulators
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Author : Serdar Küçük
language : en
Publisher: BoD – Books on Demand
Release Date : 2012-03-30
Serial And Parallel Robot Manipulators written by Serdar Küçük and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-03-30 with Computers categories.
The robotics is an important part of modern engineering and is related to a group of branches such as electric
Robotics Research
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Author : John M. Hollerbach
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Robotics Research written by John M. Hollerbach and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
This book is the proceedings of the 9th International Symposium of Robotics Research, one of the oldest and most prestigious conferences in robotics. The goal of the symposium was to bring together active, leading robotics researchers from academia, government and industry, to define the state of the art of robotics and its future direction. The broad spectrum of robotics research is covered, with an eye on what will be important in robotics in the next millennium.