Structural Synthesis Of Parallel Robots
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Structural Synthesis Of Parallel Robots
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Author : Grigore Gogu
language : en
Publisher:
Release Date : 2008
Structural Synthesis Of Parallel Robots written by Grigore Gogu and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with Parallel robots categories.
Structural Synthesis Of Parallel Robots
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Author : Grigore Gogu
language : en
Publisher: Springer
Release Date : 2010-11-16
Structural Synthesis Of Parallel Robots written by Grigore Gogu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-11-16 with Technology & Engineering categories.
“The mathematical investigations referred to bring the whole apparatus of a great science to the examination of the properties of a given mechanism, and have accumulated in this direction rich material, of enduring and increasing value. What is left unexamined is however the other, immensely deeper part of the problem, the question: How did the mechanism, or the elements of which it is composed, originate? What laws govern its building up? Is it indeed formed according to any laws whatever? Or have we simply to accept as data what invention gives us, the analysis of what is thus obtained being the only scientific problem left – as in the case of natural history?” Reuleaux, F., Theoretische Kinematik, Braunschweig: Vieweg, 1875 Reuleaux, F., The Kinematics of Machinery, London: Macmillan, 1876 and New York: Dover, 1963 (translated by A.B.W. Kennedy) This book represents the second part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 already published in 2008 (Gogu 2008a) has presented the methodology proposed for structural synthesis. This book focuses on various topologies of translational parallel robots systematically generated by using the structural synthesis approach proposed in Part 1. The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms.
Structural Synthesis Of Parallel Robots
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Author : Grigore Gogu
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-05-01
Structural Synthesis Of Parallel Robots written by Grigore Gogu 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 2009-05-01 with Technology & Engineering categories.
This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. Part 1 presents the methodology proposed for structural synthesis. Part 2 presents the various topologies of parallel robots generated by this systematic approach. Many solutions are presented here for the first time. The book will contribute to a widespread implementation of these solutions in industrial products.
Structural Synthesis Of Parallel Robots
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Author : Grigore Gogu
language : en
Publisher: Springer
Release Date : 2011-10-16
Structural Synthesis Of Parallel Robots written by Grigore Gogu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-10-16 with Technology & Engineering categories.
This book represents the fourth part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 (Gogu 2008a) presented the methodology of structural synthesis and the systematisation of structural solutions of simple and complex limbs with two to six degrees of connectivity systematically generated by the structural synthesis approach. Part 2 (Gogu 2009a) presented structural solutions of translational parallel robotic manipulators with two and three degrees of mobility. Part 3 (Gogu 2010a) focussed on structural solutions of parallel robotic manipulators with planar motion of the moving platform. This book offers other topologies of parallel robotic manipulators with two and three degrees of freedom systematically generated by using the structural synthesis approach proposed in Part 1. The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel robotic manipulators. This is the first book of robotics presenting various solutions of coupled, decoupled, uncoupled, fully-isotropic and maximally regular parallel robotic manipulators with two and three degrees of freedom systematically generated by using the structural synthesis approach proposed in Part 1. Non-redundant/redundant, overconstrained/isostatic solutions with simple/complex limbs actuated by linear/rotary actuators with/without idle mobilities are proposed. Many solutions are presented here for the first time in the literature. The author had to make a difficult and challenging choice between protecting these solutions through patents, and releasing them directly into the public domain. The second option was adopted by publishing them in various recent scientific publications and mainly in this book. In this way, the author hopes to contribute to a rapid and widespread implementation of these solutions in future industrial products.
Structural Synthesis Of Parallel Robots
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Author : Grigore Gogu
language : en
Publisher: Springer
Release Date : 2010-11-20
Structural Synthesis Of Parallel Robots written by Grigore Gogu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-11-20 with categories.
This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. Part 1 presents the methodology proposed for structural synthesis. Part 2 presents the various topologies of parallel robots generated by this systematic approach. Many solutions are presented here for the first time. The book will contribute to a widespread implementation of these solutions in industrial products.
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.
Structural Synthesis Of Parallel Robots
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Author : Grigore Gogu
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-09-24
Structural Synthesis Of Parallel Robots written by Grigore Gogu 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 2013-09-24 with Technology & Engineering categories.
This book represents the fifth part of a larger work dedicated to the structural synthesis of parallel robots. The originality of this work resides in the fact that it combines new formulae for mobility, connectivity, redundancy and overconstraints with evolutionary morphology in a unified structural synthesis approach that yields interesting and innovative solutions for parallel robotic manipulators. This is the first book on robotics that presents solutions for coupled, decoupled, uncoupled, fully-isotropic and maximally regular robotic manipulators with Schönflies motions systematically generated by using the structural synthesis approach proposed in Part 1. Overconstrained non-redundant/overactuated/redundantly actuated solutions with simple/complex limbs are proposed. Many solutions are presented here for the first time in the literature. The author had to make a difficult and challenging choice between protecting these solutions through patents and releasing them directly into the public domain. The second option was adopted by publishing them in various recent scientific publications and above all in this book. In this way, the author hopes to contribute to a rapid and widespread implementation of these solutions in future industrial products.
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.
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.
Structural Synthesis Of Parallel Robots
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Author : Grigore Gogu
language : en
Publisher: Springer
Release Date : 2007-10-12
Structural Synthesis Of Parallel Robots written by Grigore Gogu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-10-12 with Technology & Engineering categories.
This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. Part 1 presents the methodology proposed for structural synthesis. Part 2 presents the various topologies of parallel robots generated by this systematic approach. Many solutions are presented here for the first time. The book will contribute to a widespread implementation of these solutions in industrial products.