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
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.
Advances In Robot Kinematics Analysis And Design
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Author : Jadran Lenarčič
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-05-29
Advances In Robot Kinematics Analysis And Design written by Jadran Lenarčič 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 2008-05-29 with Technology & Engineering categories.
This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
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.
Advances In Robot Kinematics
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Author : Jadran Lenarčič
language : en
Publisher: Springer
Release Date : 2014-05-19
Advances In Robot Kinematics written by Jadran Lenarčič and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-05-19 with Technology & Engineering categories.
The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.
Screw Theory And Its Application To Spatial Robot Manipulators
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Author : Carl D. Crane, III
language : en
Publisher: Cambridge University Press
Release Date : 2022-08-31
Screw Theory And Its Application To Spatial Robot Manipulators written by Carl D. Crane, III and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-08-31 with Technology & Engineering categories.
Discover a fresh take on classical screw theory and understand the geometry embedded within robots and mechanisms with this essential text. The book begins with a geometrical study of points, lines, and planes and slowly takes the reader toward a mastery of screw theory with some cutting-edge results, all while using only basic linear algebra and ordinary vectors. It features a discussion of the geometry of parallel and serial robot manipulators, in addition to the reciprocity of screws and a singularity study. All 41 essential screw systems are unveiled, establishing the possible freedom twists and constraint wrenches for a kinematic joint. Familiarizing the reader with screw geometry in order to study the statics and kinematics of robots and mechanisms, this is a perfect resource for engineers and graduate students.
Recent Advances In Robot Kinematics
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Author : Jadran Lenarčič
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Recent Advances In Robot Kinematics written by Jadran Lenarčič 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.
The articles of this book were reported and discussed at the fifth international symposium on Advances in Robot Kinematics. As is known, the first symposium of this series was organised in 1988 in Ljubljana. The following meetings took place every other year in Austria, Italy, and Slovenia (Linz, Ferrara, Ljubljana, Portoroz Bernardin). It must be emphasised that the symposia run under the patronage of the International Federation for the Theory of Machinesand Mechanisms, IFToMM. In this period, Advances in Robot Kinematics has been able to attract the most outstanding authors in the area and also to create an optimum combination of a scientific pragmatism and a friendly atmosphere. Hence, it has managed to survive in a strong competition of many international conferences and meetings. In the most ancient way, robot kinematics is regarded as an application of the kinematics of rigid hodies. However, there are topics and problems that are typical for robot kinematics that cannot easily be found in any other scientific field. It is our belief that the initiative of Advances in Robot Kinematics has contributed to develop a remarkable scientific community. The present book is of interest to researchers, doctoral students and teachers, engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots.
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.
Advances In Robot Kinematics 2022
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Author : Oscar Altuzarra
language : en
Publisher: Springer Nature
Release Date : 2022-06-17
Advances In Robot Kinematics 2022 written by Oscar Altuzarra and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-06-17 with Technology & Engineering categories.
This book reports on the latest scientific achievements on robot kinematics provided by the prominent researchers participating in the 18th International Symposium on Advances in Robot Kinematics ARK2022, organized in the University of the Basque Country, Bilbao, Spain. It is of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. The book brings together 53 peer-reviewed papers. These cover the full range of robotic systems, including serial, parallel, flexible mechanisms, and cable-driven manipulators, and tackle problems such as: kinematic analysis of robots, robot modelling and simulation, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, kinematics in biological systems, flexible parallel manipulators, humanoid robots and humanoid subsystems.