Parallel Robots With Unconventional Joints
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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.
Parallel Robots With Unconventional Joints To Achieve Under Actuation And Reconfigurability
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Author : Patrick Grosch
language : en
Publisher:
Release Date : 2016
Parallel Robots With Unconventional Joints To Achieve Under Actuation And Reconfigurability written by Patrick Grosch and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
The aim of the thesis is to define, analyze, and verify through simulations and practical implementations, parallel robots with unconventional joints that allow them to be under-actuated and/or reconfigurable. The new designs will be derived from the: * 6SPS robot (alternatively 6UPS or 6SPU, depending on the implementation) when considering the spatial case (i.e., robots with 3 degrees of freedom of rotation and 3 degrees of freedom of translation). * S-3SPS robot (alternatively S-3UPS or S-3SPU, depending on the implementation) when considering spherical robots (i.e., robots with 3 degrees of freedom of rotation). In both cases, we will see how, through certain geometric transformations, some of the standard joints can be replaced by lockable or non-holonomic joints. These substitutions permit 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 any position and orientation (in case of a spatial robot), or to any orientation (in case of a spherical robot), within its workspace. The expected benefit of these new designs is to obtain parallel robots with: * larger working spaces because the possibility of collisions between legs is reduced, and the number of joints (with their intrinsic range limitations) is also reduced; * lower weight because the number of actuators and joints is reduced; and * lower cost because the number of actuators and controllers is also reduced. The elimination of an actuator and the introduction of a motion constraint reduces in one the dimension of the space of allowed velocities attainable from a given configuration. As a result, it will be necessary, in general, to plan maneuvers to reach the desired configuration for the moving platform. Therefore, the obtained robots will only be suitable for applications where accuracy is required in the final position and a certain margin of error is acceptable in the generated trajectories.
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.
Parallel Robots
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Author : J.-P. Merlet
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
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 2012-12-06 with Technology & Engineering categories.
Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots 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 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
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.
Fundamentals Of Mechanics Of Robotic Manipulation
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Author : Marco Ceccarelli
language : en
Publisher: Springer Nature
Release Date : 2022-03-30
Fundamentals Of Mechanics Of Robotic Manipulation written by Marco Ceccarelli and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-03-30 with Technology & Engineering categories.
The book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and purposes. The introduction illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots; chapter 3 deals with the mechanics of serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping.
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.
Advances In Mechanism And Machine Science
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Author : Masafumi Okada
language : en
Publisher: Springer Nature
Release Date : 2023-11-03
Advances In Mechanism And Machine Science written by Masafumi Okada and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-11-03 with Technology & Engineering categories.
This book gathers the proceedings of the 16th IFToMM World Congress, which was held in Tokyo, Japan, on November 5–10, 2023. Having been organized every four years since 1965, the Congress represents the world’s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations. Chapter “The Motion Suspension System – MSS: A Cable-Driven System for On-Ground Tests of Space Robots” is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.
Climbing And Walking Robots
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Author : Manuel Armada
language : en
Publisher: Springer Science & Business Media
Release Date : 2006-01-16
Climbing And Walking Robots written by Manuel Armada 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 2006-01-16 with Technology & Engineering categories.
These proceedings present a full state-of-the-art picture of the popular and motivating field of climbing and walking robots, featuring recent research by leading climbing and walking robot experts in various industrial and emerging fields.
Nature Inspired Robotics
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Author : Jagjit Singh Dhatterwal
language : en
Publisher: CRC Press
Release Date : 2024-07-24
Nature Inspired Robotics written by Jagjit Singh Dhatterwal and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-07-24 with Technology & Engineering categories.
This book introduces the theories and methods of Nature-Inspired Robotics in artificial intelligence. Software and hardware technologies, alongside theories and methods, illustrate the application of bio-inspired artificial intelligence. It includes discussions on topics such as Robot Control Manipulators, Geometric Transformation, Robotic Drive Systems and Nature Inspired Robotic Neural System. Elaborating upon recent progress made in five distinct configurations of nature-inspired computing, it explores the potential applications of this technology in two specific areas: neuromorphic computing systems and neuromorphic perceptual systems. · Discusses advances in cutting-edge technology in brain-inspired computing, perception technologies and aspects of neuromorphic electronics · Offers a thorough introduction to two-terminal neuromorphic memristors, including memristive devices and resistive switching mechanisms · Provides comprehensive explorations of spintronic neuromorphic devices and multi-terminal neuromorphic devices with cognitive behaviours · Includes cognitive behaviour of Inspired Robotics and cognitive technologies with applications in Artificial Intelligence · Contains practical discussions of neuromorphic devices based on chalcogenide and organic materials. This text acts as a reference book for students, scholars, and industry professionals.