Kinematic Analysis Dynamic Analysis And Static Balancing Of Planar And Spatial Parallel Mechanisms Or Manipulators With Revolute Actuators
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Kinematic Analysis Dynamic Analysis And Static Balancing Of Planar And Spatial Parallel Mechanisms Or Manipulators With Revolute Actuators
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Author : Jiegao Wang
language : en
Publisher:
Release Date : 1997
Kinematic Analysis Dynamic Analysis And Static Balancing Of Planar And Spatial Parallel Mechanisms Or Manipulators With Revolute Actuators written by Jiegao Wang and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997 with categories.
Kinematic Analysis Dynamic Analysis And Static Balancing Of Planar And Spatial Parallel Mechanisms Or Manipulators With Revolute Actuators
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Author :
language : en
Publisher:
Release Date : 1998
Kinematic Analysis Dynamic Analysis And Static Balancing Of Planar And Spatial Parallel Mechanisms Or Manipulators With Revolute Actuators written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998 with categories.
Dynamic Balancing Of Mechanisms And Synthesizing Of Parallel Robots
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Author : Dan Zhang
language : en
Publisher: Springer
Release Date : 2015-10-20
Dynamic Balancing Of Mechanisms And Synthesizing Of Parallel Robots written by Dan Zhang and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-10-20 with Technology & Engineering categories.
This book covers the state-of-the-art technologies in dynamic balancing of mechanisms with minimum increase of mass and inertia. The synthesis of parallel robots based on the Decomposition and Integration concept is also covered in detail. The latest advances are described, including different balancing principles, design of reactionless mechanisms with minimum increase of mass and inertia, and synthesizing parallel robots. This is an ideal book for mechanical engineering students and researchers who are interested in the dynamic balancing of mechanisms and synthesizing of parallel robots. This book also: · Broadens reader understanding of the synthesis of parallel robots based on the Decomposition and Integration concept · Reinforces basic principles with detailed coverage of different balancing principles, including input torque balancing mechanisms · Reviews exhaustively the key recent research into the design of reactionless mechanisms with minimum increase of mass and inertia, such as the design of reactionless mechanisms with auxiliary parallelograms, the design of reactionless mechanisms with flywheels, and the design of reactionless mechanisms by symmetrical structure design.
Balancing Of Linkages And Robot Manipulators
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Author : Vigen Arakelian
language : en
Publisher: Springer
Release Date : 2015-01-27
Balancing Of Linkages And Robot Manipulators written by Vigen Arakelian and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-01-27 with Technology & Engineering categories.
In this book advanced balancing methods for planar and spatial linkages, hand operated and automatic robot manipulators are presented. It is organized into three main parts and eight chapters. The main parts are the introduction to balancing, the balancing of linkages and the balancing of robot manipulators. The review of state-of-the-art literature including more than 500 references discloses particularities of shaking force/moment balancing and gravity compensation methods. Then new methods for balancing of linkages are considered. Methods provided in the second part of the book deal with the partial and complete shaking force/moment balancing of various linkages. A new field for balancing methods applications is the design of mechanical systems for fast manipulation. Special attention is given to the shaking force/moment balancing of robot manipulators. Gravity balancing methods are also discussed. The suggested balancing methods are illustrated by numerous examples.
Computational Kinematics
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Author : Andrés Kecskeméthy
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-10-06
Computational Kinematics written by Andrés Kecskeméthy 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 2009-10-06 with Technology & Engineering categories.
Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The present book collects up-to-date methods as presented during the Fifth International Workshop on Computational Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, balancing and construction of novel mechanical devices, detection and treatment of singularities, as well as computational methods for gear design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.
Theory Of Parallel Mechanisms
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Author : Zhen Huang
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-07-26
Theory Of Parallel Mechanisms written by Zhen Huang 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 2012-07-26 with Technology & Engineering categories.
This book contains mechanism analysis and synthesis. In mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validity was only proved recently, is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its latest developments are described. This principle is suitable for kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularity is stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented. In mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, is introduced in detail. Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed.
Mechanisms
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Author : Jaime Gallardo-Alvarado
language : en
Publisher: Academic Press
Release Date : 2022-06-18
Mechanisms written by Jaime Gallardo-Alvarado and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-06-18 with Technology & Engineering categories.
Theory of mechanisms is an applied science of mechanics that studies the relationship between geometry, mobility, topology, and relative motion between rigid bodies connected by geometric forms. Recently, knowledge in kinematics and mechanisms has considerably increased, causing a renovation in the methods of kinematic analysis. With the progress of the algebras of kinematics and the mathematical methods used in the optimal solution of polynomial equations, it has become possible to formulate and elegantly solve problems. Mechanisms: Kinematic Analysis and Applications in Robotics provides an updated approach to kinematic analysis methods and a review of the mobility criteria most used in planar and spatial mechanisms. Applications in the kinematic analysis of robot manipulators complement the material presented in the book, growing in importance when one recognizes that kinematics is a basic area in the control and modeling of robot manipulators. Presents an organized review of general mathematical methods and classical concepts of the theory of mechanisms Introduces methods approaching time derivatives of arbitrary vectors employing general approaches based on the vector angular velocity concept introduced by Kane and Levinson Proposes a strategic approach not only in acceleration analysis but also to jerk analysis in an easy to understand and systematic way Explains kinematic analysis of serial and parallel manipulators by means of the theory of screws
Kinematic Analysis And Synthesis Of Mechanisms
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Author : Asok Kumar Mallik
language : en
Publisher: CRC Press
Release Date : 2021-09-30
Kinematic Analysis And Synthesis Of Mechanisms written by Asok Kumar Mallik and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-09-30 with Technology & Engineering categories.
This text/reference represents the first balanced treatment of graphical and analytical methods for kinematic analysis and synthesis of linkages (planar and spatial) and higher-pair mechanisms (cams and gears) in a single-volume format. A significant amount of excellent German literature in the field that previously was not available in English provides extra insight into the subject. Plenty of solved problems and exercise problems are included to sharpen your skills and demonstrate how theory is put into practice.
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.
Latest Advances In Robot Kinematics
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Author : Jadran Lenarcic
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-05-19
Latest Advances In Robot Kinematics written by Jadran Lenarcic 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 2012-05-19 with Technology & Engineering categories.
This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.