Dynamics of Parallel Robots: From Rigid Bodies to Flexible Elements: 35 (Mechanisms and Machine Science) - Tapa dura

Briot, Sébastien; Khalil, Wisama

 
9783319197876: Dynamics of Parallel Robots: From Rigid Bodies to Flexible Elements: 35 (Mechanisms and Machine Science)
Tapa dura
ISBN 10: 3319197878 ISBN 13: 9783319197876
Editorial: Springer, 2015

Sinopsis

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 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.

"Sinopsis" puede pertenecer a otra edición de este libro.

De la contraportada

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 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.

"Sobre este título" puede pertenecer a otra edición de este libro.

Editorial
Springer
Año de publicación
2015
Idioma
Inglés
ISBN 10 
3319197878
ISBN 13 
9783319197876
Encuadernación
Tapa dura
Número de páginas
370
Contacto del fabricante
no disponible
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Otras ediciones populares con el mismo título

9783319356600: Dynamics of Parallel Robots: From Rigid Bodies to Flexible Elements: 35 (Mechanisms and Machine Science)

Edición Destacada

ISBN 10:  3319356607 ISBN 13:  9783319356600
Editorial: Springer, 2016
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