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A New Parameterization Defining The Kinematic And Dynamic Properties Of A General Class Of Gough Stewart Platform Manipulators
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Book Synopsis A New Parameterization Defining the Kinematic and Dynamic Properties of a General Class of Gough-Stewart Platform Manipulators by : Anthony A. Allais
Download or read book A New Parameterization Defining the Kinematic and Dynamic Properties of a General Class of Gough-Stewart Platform Manipulators written by Anthony A. Allais and published by . This book was released on 2011 with total page 57 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel manipulators are inherently well suited for applications in which rapid and accurate response is desired. A useful class of parallel manipulators, Gough-Stewart Platforms (GSPs), is considered. A new parameterization defining the kinematics and dynamics of GSPs is introduced. It is shown that these parameters can be chosen to dictate favorable dynamic and kinematic manipulator characteristics such as: dynamic decoupling, large Jacobian manipulability, small Jacobian condition number, optimal fault tolerance, and both dynamic and kinematic isotropy; further, it is shown that, while this parameterization entirely defines the kinematic and dynamic behavior of the manipulator, the physical manipulator geometry is free to be altered (subject to constraint) to accommodate an arbitrarily shaped payload and base mounting surface. Two design examples are presented, demonstrating the usefulness and practicality of this new parameterization of GSPs.
Book Synopsis Complete Dynamic Analysis of Stewart Platform Based on Workspace by : Burcu G Neri
Download or read book Complete Dynamic Analysis of Stewart Platform Based on Workspace written by Burcu G Neri and published by LAP Lambert Academic Publishing. This book was released on 2011-02 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, the field of parallel manipulators has expanded significantly in applications requiring high precision, loading capacity, accuracy, rigidity and high velocity. Stewart platform is the most common type of parallel manipulators. Limited workspace, complex kinematic/kinetic solutions, singularities inside the workspace are the main problems encountered with regard to this type of robots. In this book, using some design/engineering software and programming language, Stewart platform is investigated in details by modeling and simulation, dynamic analysis and singularity detection. The effects of geometric and kinematic parameters on the workspace are determined for different orientations of the moving platform. The actuator forces computed on the workspace boundaries are compared for different joint positions. Singularity analysis of Stewart platform is also performed considering many aspects based on trajectory planning. In this manner, a complete package of analysis focused on Stewart platform is presented in this book. The reader can benefit from the obtained results and conclusions which may be utilized for design, analysis, simulation and manufacturing purposes.
Book Synopsis Modeling, Identification and Control of Robots by : W. Khalil
Download or read book Modeling, Identification and Control of Robots written by W. Khalil and published by Butterworth-Heinemann. This book was released on 2004-07-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written 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
Book Synopsis Kinematics of an In-parallel Actuated Manipulator Based on the Stewart Platform Mechanism by :
Download or read book Kinematics of an In-parallel Actuated Manipulator Based on the Stewart Platform Mechanism written by and published by . This book was released on 1992 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Book Synopsis Dynamic and Kinematic Study of a Stewart Platform Using Newton-Euler Techniques by : Arthur L. Helinski
Download or read book Dynamic and Kinematic Study of a Stewart Platform Using Newton-Euler Techniques written by Arthur L. Helinski and published by . This book was released on 1990 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report details a dynamic and kinematic study of a Stewart platform. This study is conducted to develop a comprehensive math model of the Turret Motion Base Simulator (TMBS) which is a Stewart platform system being developed for TACOM. The TMBS is a unique six degree of freedom simulator which will be used for laboratory testing.
Download or read book Mathematical Reviews written by and published by . This book was released on 2007 with total page 776 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Dynamic Analysis and Control System Development for a Multi-staged Stewart Platform Manipulator by : Abhishek S. Banka
Download or read book Dynamic Analysis and Control System Development for a Multi-staged Stewart Platform Manipulator written by Abhishek S. Banka and published by . This book was released on 1998 with total page 444 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Parallel Robotic Machine Tools by : Dan Zhang
Download or read book Parallel Robotic Machine Tools written by Dan Zhang and published by Springer Science & Business Media. This book was released on 2009-12-01 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research 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.
Download or read book Parallel Robots written by J.P. Merlet and published by Springer. This book was released on 2000-07-31 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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).
Book Synopsis Parallel Robots by : Hamid D. Taghirad
Download or read book Parallel Robots written by Hamid D. Taghirad and published by CRC Press. This book was released on 2013-02-20 with total page 537 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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
Book Synopsis Workspace Evaluation and Kinematic Calibration of Stewart Platform by : Jian Wang
Download or read book Workspace Evaluation and Kinematic Calibration of Stewart Platform written by Jian Wang and published by . This book was released on 1992 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory by : Jaime Gallardo-Alvarado
Download or read book Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory written by Jaime Gallardo-Alvarado and published by Springer. This book was released on 2016-06-16 with total page 389 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.
Book Synopsis Fundamentals of Robotic Mechanical Systems by : Jorge Angeles
Download or read book Fundamentals of Robotic Mechanical Systems written by Jorge Angeles and published by Springer. This book was released on 2013-03-09 with total page 528 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mechanical engineering, an engineering discipline borne of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound is sues of productivity and competitiveness that require engineering solutions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for information in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that covers a broad range of concentrations important to mechanical engineering graduate education and research. We are fortunate to have a distinguished rost er of consulting editors on the advisory board, each an expert in one the areas of concentra tion. The names of the consulting editors are listed on the next page of this volume. The areas of concentration are: applied mechanics; biome chan ics; computational mechanics; dynamic systems and control; energetics; mechanics of materials; processing; thermal science; and tribology.
Download or read book Intersection Theory written by W. Fulton and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 483 pages. Available in PDF, EPUB and Kindle. Book excerpt: From the ancient origins of algebraic geometry in the solution of polynomial equations, through the triumphs of algebraic geometry during the last two cen turies, intersection theory has played a central role. Since its role in founda tional crises has been no less prominent, the lack of a complete modern treatise on intersection theory has been something of an embarrassment. The aim of this book is to develop the foundations of intersection theory, and to indicate the range of classical and modern applications. Although a comprehensive his tory of this vast subject is not attempted, we have tried to point out some of the striking early appearances of the ideas of intersection theory. Recent improvements in our understanding not only yield a stronger and more useful theory than previously available, but also make it possible to devel op the subject from the beginning with fewer prerequisites from algebra and algebraic geometry. It is hoped that the basic text can be read by one equipped with a first course in algebraic geometry, with occasional use of the two appen dices. Some of the examples, and a few of the later sections, require more spe cialized knowledge. The text is designed so that one who understands the con structions and grants the main theorems of the first six chapters can read other chapters separately. Frequent parenthetical references to previous sections are included for such readers. The summaries which begin each chapter should fa cilitate use as a reference.
Book Synopsis Advances in Robot Kinematics 2018 by : Jadran Lenarcic
Download or read book Advances in Robot Kinematics 2018 written by Jadran Lenarcic and published by Springer. This book was released on 2018-06-22 with total page 474 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy. ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.
Book Synopsis New Trends in Mechanism Science by : Doina Pisla
Download or read book New Trends in Mechanism Science written by Doina Pisla and published by Springer Science & Business Media. This book was released on 2010-08-12 with total page 688 pages. Available in PDF, EPUB and Kindle. Book excerpt: After two succesful conferences held in Innsbruck (Prof. Manfred Husty) in 2006 and Cassino in 2008 (Prof Marco Ceccarelli) with the participation of the most important well-known scientists from the European Mechanism Science Community, a further conference was held in Cluj Napoca, Romania, in 2010 (Prof. Doina Pisla) to discuss new developments in the field. This book presents the most recent research advances in Mechanism Science with different applications. Amongst the topics treated are papers on Theoretical kinematics, Computational kinematics, Mechanism design, Mechanical transmissions, Linkages and manipulators, Mechanisms for biomechanics, Micro-mechanisms, Experimental mechanics, Mechanics of robots, Dynamics of multi-body systems, Dynamics of machinery, Control issues of mechanical systems, Novel designs, History of mechanism science etc.
