Parallel Manipulators Of Robots
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Parallel Manipulators Of Robots
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Author : Korganbay Sagnayevich Sholanov
language : en
Publisher: Springer Nature
Release Date : 2020-09-10
Parallel Manipulators Of Robots written by Korganbay Sagnayevich Sholanov and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-09-10 with Technology & Engineering categories.
This book describes the theoretical framework of parallel manipulators and presents examples of their application. The theoretical part begins with the theory of parallel manipulator synthesis. Working on this basis, various topology designs of one-loop and multiloop parallel manipulators are then obtained. The next section describes the zero parameters method for the analysis of mechanism (manipulator) structure with closed kinematic circuits, and includes examples of its application, highlighting its advantages compared to traditional methods. The book then presents the redundant parameters method for determining the position of special parallel manipulator links, and discusses its application in solving the direct problem of link position for multiloop manipulators. It also addresses one-loop and multiloop manipulators, and includes a solution for the direct and inverse link position problems of kinematics. In closing, the book presents a range of potential applications for parallel manipulator. These examples are intended to promote the development and implementation of new engineering solutions, e.g. in seismic protection systems, renewable energy and other areas. The book includes a wealth of material that can be used for teaching undergraduate, graduate and PhD students majoring in robotics, automation and related fields, and can also be used by researchers to solve problems in connection with introducing robotics technologies.
Parallel Manipulator
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Author : Fouad Sabry
language : en
Publisher: One Billion Knowledgeable
Release Date : 2025-01-28
Parallel Manipulator written by Fouad Sabry and has been published by One Billion Knowledgeable this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-01-28 with Technology & Engineering categories.
Unlock the complexities of modern robotics with "Parallel Manipulator," an essential addition to the "Robotics Science" series by Fouad Sabry. This book delves into the intricate world of parallel manipulators, their applications, and their significance in the advancement of robotics technology. Ideal for professionals, students, and enthusiasts alike, this comprehensive guide offers insights that exceed the cost of purchase, empowering readers to master concepts critical to the field. Chapters Brief Overview: 1: Parallel manipulator: Discover the foundational concepts and principles of parallel manipulators. 2: Industrial robot: Explore the integration of parallel manipulators in industrial automation. 3: Inverse kinematics: Understand the techniques for calculating robot movement and positioning. 4: Cartesian coordinate robot: Learn about the structure and functionality of Cartesian robots. 5: Robot kinematics: Examine the mathematical framework governing robot motion. 6: Linkage (mechanical): Analyze mechanical linkages and their role in robotic systems. 7: Degrees of freedom (mechanics): Investigate the significance of degrees of freedom in robotics. 8: Robot calibration: Grasp the methods for ensuring precision and accuracy in robots. 9: Delta robot: Study the design and applications of highspeed delta robots. 10: Serial manipulator: Delve into the characteristics of serial manipulators and their uses. 11: Kinematic pair: Learn about kinematic pairs and their importance in robot design. 12: Kinematic chain: Understand the connections in robotic structures through kinematic chains. 13: Robotic arm: Explore the various types and functionalities of robotic arms. 14: Mechanism (engineering): Discover the engineering principles behind mechanical mechanisms. 15: Kinematics equations: Examine the kinematic equations that describe robot movement. 16: Cable robots: Investigate the unique features and applications of cabledriven robots. 17: Large workspace robot: Learn about robots designed for extensive operational spaces. 18: Fivebar linkage: Explore the mechanics and applications of the fivebar linkage system. 19: Freedom and constraint topologies: Understand the relationships between freedom and constraints in design. 20: Cartesian parallel manipulators: Analyze the innovative design of Cartesian parallel manipulators. 21: Gimbal lock: Delve into the challenges posed by gimbal lock in robotics. Equip yourself with cuttingedge knowledge and stay ahead in the rapidly evolving field of robotics. This book not only provides foundational theories but also practical applications, making it a crucial resource for anyone looking to enhance their expertise. Your investment in "Parallel Manipulator" is an investment in your future in robotics.
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
Parallel Manipulators
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Author : Cecilia Norton
language : en
Publisher: Nova Science Publishers
Release Date : 2016
Parallel Manipulators written by Cecilia Norton and has been published by Nova Science Publishers this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with Technology & Engineering categories.
Robots are a key element in current industrial processes, as they can be applied to a number of tasks, increasing both quality and productivity. Traditionally, serial robots have been installed in factories, as their wide operating space allowed them to fulfill a number of tasks. However, due to their high moving mass and single kinematic chain structure, these robots present some disadvantages when high speed, accuracy or heavy load handling tasks have to be executed. Parallel robots provide an interesting alternative to these application fields, as their multiple kinematic chain structure offers increased stiffness, allowing reduced positioning errors, lighter mechanisms and increased load/weight ratios. In this book, Chapter One addresses a new control strategy for parallel manipulators based on L1 adaptive control. This latter is known for its decoupled control and estimation loops, enabling fast adaptation and guaranteed robustness. Chapter Two focuses on the control of parallel robots. Chapter Three reviews structure synthesis of fully-isotropic two-rotational and two-translational parallel robotic manipulators. Chapter Four reviews the new prototype of the two-legged, parallel kinematic walking robot CENTAUROB, developed at Hamburg University of Technology. Chapter Five analyzes and robustly controls the 6-DOF 3-legged Wide-Open parallel manipulator, using a Lyapunov analysis approach.
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 : 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.
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.
Parallel Robots With Unconventional Joints
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Author : Patrick Grosch
language : en
Publisher: Springer
Release Date : 2019-03-20
Parallel Robots With Unconventional Joints written by Patrick Grosch and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-03-20 with Technology & Engineering categories.
This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robot's ability to bring its mobile platform to the desired configuration. The kinematics of the most representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations.
Cable Driven Parallel Robots
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Author : Tobias Bruckmann
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-09-13
Cable Driven Parallel Robots written by Tobias Bruckmann 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 2012-09-13 with Technology & Engineering categories.
Gathering presentations to the First International Conference on Cable-Driven Parallel Robots, this book covers classification and definition, kinematics, workspace analysis, cable modeling, hardware/prototype development, control and calibration and more.
Parallel Robots
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Author : J.P. Merlet
language : en
Publisher: Springer Science & Business Media
Release Date : 2006-07-01
Parallel Robots written by J.P. Merlet 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 2006-07-01 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.