Kinematic Analysis Of Parallel Manipulators By Algebraic Screw Theory
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Kinematic Analysis Of Parallel Manipulators By Algebraic Screw Theory
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Author : Jaime Gallardo-Alvarado
language : en
Publisher: Springer
Release Date : 2016-06-16
Kinematic Analysis Of Parallel Manipulators By Algebraic Screw Theory written by Jaime Gallardo-Alvarado and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-06-16 with Technology & Engineering categories.
This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.
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
Parallel Robots
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Author : Hamid D. Taghirad
language : en
Publisher: CRC Press
Release Date : 2025-09-05
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 2025-09-05 with Technology & Engineering categories.
In today’s rapidly evolving industrial landscape, robotics has become essential for meeting the demands of large-scale production. Parallel robots, with their closed-loop kinematic structures, offer unmatched precision, rigidity, and load-bearing capabilities, making them indispensable for tasks requiring high accuracy and efficiency. This book explores the unique advantages of parallel robots, providing a comprehensive resource for engineers, researchers, and students interested in mastering their design, analysis, and control. Building on the success of its first edition, this second edition has been extensively restructured and updated to reflect over a decade of progress in robotics. It features expanded chapters on dynamics, new sections on simulation and calibration, and a detailed exploration of control techniques, ranging from introductory linear methods to advanced force control. With nearly 45% updated references, the text ensures readers are equipped with cutting-edge knowledge. This book is both a comprehensive guide and a gateway to innovation, providing detailed insights into the design, simulation, calibration, and control of parallel robots. Whether you are a newcomer to robotics or an experienced professional, this text equips you with the knowledge to harness the full potential of parallel robots, helping you stay ahead in the dynamic field of industrial automation.
Advances In Mechanism Machine Science And Engineering In China
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Author : Xinjun Liu
language : en
Publisher: Springer Nature
Release Date : 2023-05-31
Advances In Mechanism Machine Science And Engineering In China written by Xinjun Liu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-05-31 with Technology & Engineering categories.
This book presents the conference proceedings of the 23rd IFToMM China International Conference on Mechanism and Machine Science & Engineering (IFToMM CCMMS 2022). CCMMS was initiated in 1982, and it is the most important forum held in China for the exchange of research ideas, presentation of technical and scientific achievements, and discussion of future directions in the field of mechanism and machine science. The topics include parallel/hybrid mechanism synthesis and analysis, theoretical & computational kinematics, compliant mechanisms and micro/nano-mechanisms, reconfigurable and metamorphic mechanisms, space structures, mechanisms and materials, structure adaptation in space environment and ground testing, large-scale membrane deployable structures, construction and application of super-scale space systems, cams, gears and combining mechanisms, fluid power mechatronics drivetrain, mechanical design theory and methods, dynamics and vibration control, mechatronics, biologically inspired mechanisms and robotics, medical & rehabilitation robotics, mobile robotics, soft robotics, heavy non-road mobile machine, robot applications, engineering education on mechanisms, machines, and robotics. This book provides a state-of-the-art overview of current advances in mechanism and machine science in China. The inspiring ideas presented in the papers enlighten academic research and industrial application. The potential readers include academic researchers and industrial professionals in mechanism and machine science.
Proceedings Of The 2nd International Conference On Mechanical System Dynamics
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Author : Xiaoting Rui
language : en
Publisher: Springer Nature
Release Date : 2024-06-18
Proceedings Of The 2nd International Conference On Mechanical System Dynamics written by Xiaoting Rui and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-06-18 with Science categories.
The 2nd International Conference of Mechanical System Dynamics (ICMSD2023) is devoted to “Technology Innovations by Understanding Mechanical Dynamics”, with 18 sessions to promote research in dynamic theories on complex structures, multidisciplinary integration, and advanced technologies for applications. It is held on September 1–5 in Peking University, Beijing, China. The conference is expected to provide a platform for academic researchers and engineers in the field of mechanical system dynamics to exchange scientific and technical ideas.
Biologically Inspired Series Parallel Hybrid Robots
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Author : Shivesh Kumar
language : en
Publisher: Elsevier
Release Date : 2024-11-27
Biologically Inspired Series Parallel Hybrid Robots written by Shivesh Kumar and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-11-27 with Technology & Engineering categories.
Biologically Inspired Series-Parallel Hybrid Robots: Design, Analysis and Control provides an extensive review of the state-of-the-art in series-parallel hybrid robots, covering all aspects of their mechatronic system design, modelling, and control. This book highlights the modular and distributed aspects of their mechanical, electronics, and software design, introducing various modern methods for modelling the kinematics and dynamics of complex robots. These methods are also introduced in the form of algorithms or pseudo-code which can be easily programmed with modern programming languages. Presenting case studies on various popular series-parallel hybrid robots which will inspire new robot developers, this book will be especially useful for academic and industrial researchers in this exciting field, as well as graduate-level students to bring them closer to the latest technology in mechanical design and control aspects of the area. - Introduces clear definitions for all relevant terms and the foundational theories - Provides in-depth kinematics of various parallel mechanisms typically used in the design of series-parallel hybrid robots - Presents holistic methods for solving kinematics, dynamics, trajectory generation, and control of series-parallel hybrid robots considering large number of holonomic constraints - Investigates case studies on the mechatronic system design of various series-parallel hybrid robots for practitioners in the field
Eucomes 2018
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Author : Burkhard Corves
language : en
Publisher: Springer
Release Date : 2018-08-01
Eucomes 2018 written by Burkhard Corves and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-08-01 with Technology & Engineering categories.
This volume presents the latest academic research and industrial applications in the area of mechanisms, robotics and dynamics. Contributions cover such topics as biomedical applications, control issues of mechanical systems, dynamics of multi-body systems, experimental mechanics, haptic systems, history of mechanism science, industrial and non-industrial applications, linkages and cams, mechanical transmissions and gears, mechanics of robots and manipulators, theoretical kinematics. Resulting from the 7th European Conference on Mechanism Science, which was held at RWTH Aachen University on September 4-6, 2018, this works comprises an overview on current research activities across Europe. .
Mechanism Design For Robotics
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Author : Saïd Zeghloul
language : en
Publisher: Springer Nature
Release Date : 2021-05-08
Mechanism Design For Robotics written by Saïd Zeghloul and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-05-08 with Technology & Engineering categories.
This book presents the proceedings of the 5th IFToMM Symposium on Mechanism Design for Robotics, MEDER 2021, held in Poitiers, France, 23–25 June 2021. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: theoretical and computational kinematics, mechanism design, experimental mechanics, mechanics of robots, control issues of mechanical systems, machine intelligence, innovative mechanisms and applications, linkages and manipulators, micro-mechanisms, dynamics of machinery and multi-body systems. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments.
Unraveling New Frontiers And Advances In Bioinformatics
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Author : Amit Chaudhary
language : en
Publisher: Springer Nature
Release Date : 2024-09-21
Unraveling New Frontiers And Advances In Bioinformatics written by Amit Chaudhary and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-09-21 with Computers categories.
This book describes the bioinformatics research field, from its historical roots to the cutting-edge technologies. Many readers can discover the power of next-generation sequencing and genomic data analysis, uncover the secrets of single-cell genomics and transcriptomics, explore the metagenomics and microbiome analysis, and predict the protein structures using structural bioinformatics. Several case studies witnessing the fusion of bioinformatics and artificial intelligence, driving insights from vast biological datasets have also been explored. Other important aspects listed in the book are integrating the omics data for a holistic view of biological systems; experiencing the future of medicine with precision healthcare and personalized treatments; accelerating drug discovery and repurposing through computational approaches; agricultural genomics; and exploring the role of immunoinformatics in designing effective vaccines against infectious diseases.
Fundamentals Of Robotics
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Author : Hamid D. Taghirad
language : en
Publisher: CRC Press
Release Date : 2025-01-07
Fundamentals Of Robotics 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 2025-01-07 with Technology & Engineering categories.
In an era where robotics is reshaping industries and redefining possibilities, "Fundamentals of Robotics: Applied Case Studies with MATLAB® & Python" emerges as an essential guide for both aspiring engineers and seasoned professionals. This comprehensive book bridges the gap between theoretical knowledge and practical application, driving advancements in robotics technology that mimic the complexity and grace of biological creatures. Explore the intricate world of serial robots, from their kinematic and dynamic foundations to advanced control systems. Discover how the precise movements of a magician's fingers or the poised posture of a king cobra inspire the mathematical principles that govern robotic motion. The book delves into the Denavit-Hartenberg method, screw theory, and the Jacobian matrix, providing a thorough understanding of robot design and analysis. Unique to this text is the integration of MATLAB® and Python, offering readers practical experience through step-by-step solutions and ready-to-use code. Each chapter is enriched with real-world case studies, including the 6-DOF Stanford robot and the Fanuc S-900w, allowing readers to apply theoretical concepts to tangible problems. The inclusion of biological examples enhances the relevance and accessibility of complex topics, illustrating the natural elegance of robotics. Key Features: Includes a diverse range of examples and exercises with accompanying MATLAB® and Python codes. Contains over 30 case studies which allows the readers to gain a thorough understanding. Aids instruction in classrooms with inclusion of teaching slides and handouts. Combines diverse topics like kinematics, dynamics, and control within a single book. Ideal for senior undergraduate and graduate students, as well as industry professionals, this book covers a wide range of topics, including linear and nonlinear control methods, trajectory planning, and force control. The dynamic models and control strategies discussed are crucial for anyone involved in the design, operation, or study of industrial robots. "Fundamentals of Robotics: Applied Case Studies with MATLAB® & Python" is more than a textbook; it is a vital resource that provides the knowledge and tools needed to succeed in the dynamic field of robotics. Join the journey towards mastering robotic technology and contribute to the future of intelligent machines.