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Author: Hamid D. Taghirad
Publisher: CRC Press
Published: 2013-02-20
Total Pages: 537
ISBN-13: 1466599286
DOWNLOAD EBOOKParallel 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
Author: Sébastien Briot
Publisher: Springer
Published: 2015-06-22
Total Pages: 356
ISBN-13: 3319197886
DOWNLOAD EBOOKThis 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 optimal trajectory 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.
Author: J.P. Merlet
Publisher: Springer
Published: 2000-07-31
Total Pages: 392
ISBN-13:
DOWNLOAD EBOOKParallel 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).
Author: Kevin M. Lynch
Publisher: Cambridge University Press
Published: 2017-05-25
Total Pages: 545
ISBN-13: 1107156300
DOWNLOAD EBOOKA modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author: Serdar Küçük
Publisher: BoD – Books on Demand
Published: 2012-03-30
Total Pages: 472
ISBN-13: 9535104373
DOWNLOAD EBOOKThe robotics is an important part of modern engineering and is related to a group of branches such as electric
Author: Korganbay Sagnayevich Sholanov
Publisher: Springer Nature
Published: 2020-09-10
Total Pages: 168
ISBN-13: 3030560732
DOWNLOAD EBOOKThis 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.
Author: Andreas Pott
Publisher: Springer
Published: 2018-03-27
Total Pages: 475
ISBN-13: 3319761382
DOWNLOAD EBOOKCable-driven parallel robots are a new kind of lightweight manipulators with excellent scalability in terms of size, payload, and dynamics capacities. For the first time, a comprehensive compendium is presented of the field of cable-driven parallel robots. A thorough theory of cable robots is setup leading the reader from first principles to the latest results in research. The main topics covered in the book are classification, terminology, and fields of application for cable-driven parallel robots. The geometric foundation of the standard cable model is introduced followed by statics, force distribution, and stiffness. Inverse and forward kinematics are addressed by elaborating efficient algorithms. Furthermore, the workspace is introduced and different algorithms are detailed. The book contains the dynamic equations as well as simulation models with applicable parameters. Advanced cable models are described taking into account pulleys, elastic cables, and sagging cables. For practitioner, a descriptive design method is stated including methodology, parameter synthesis, construction design, component selection, and calibration. Rich examples are presented by means of simulation results from sample robots as well as experimental validation on reference demonstrators. The book contains a representative overview of reference demonstrator system. Tables with physical parameters for geometry, cable properties, and robot parameterizations support case studies and are valuable references for building custom cable robots. For scientist, the book provides the starting point to address new scientific challenges as open problems are named and a commented review of the literature on cable robot with more than 500 references are given.
Author: Dan Zhang
Publisher: Springer Science & Business Media
Published: 2009-12-01
Total Pages: 224
ISBN-13: 1441911170
DOWNLOAD EBOOKResearch and development of various parallel mechanism applications in engineering are now being performed more and more actively in every industrial field. Parallel robot based machine tools development is considered a key technology of robot applications in manufacturing industries. The material covered here describes the basic theory, approaches, and algorithms in the field of parallel robot based machine tools. In addition families of new alternative mechanical architectures which can be used for machine tools with parallel architecture are introduced. Given equal importance is the design of mechanism systems such as kinematic analysis, stiffness analysis, kinetostatic modeling, and optimization.
Author: Tobias Bruckmann
Publisher: Springer Science & Business Media
Published: 2012-09-09
Total Pages: 443
ISBN-13: 3642319874
DOWNLOAD EBOOKGathering 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.
Author: W. Khalil
Publisher: Butterworth-Heinemann
Published: 2004-07-01
Total Pages: 503
ISBN-13: 0080536611
DOWNLOAD EBOOKWritten by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level
