Contribution A La Modelisation Et A L Etalonnage Elasto Geometriques Des Manipulateurs A Structure Parallele

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Contribution à la modélisation et à l' étalonnage élasto-géométriques des manipulateurs à structure parallèle

Author : Dominique Deblaise
Publisher :
ISBN 13 :
Total Pages : 165 pages
Book Rating : 4.:/5 (78 download)

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Book Synopsis Contribution à la modélisation et à l' étalonnage élasto-géométriques des manipulateurs à structure parallèle by : Dominique Deblaise

Download or read book Contribution à la modélisation et à l' étalonnage élasto-géométriques des manipulateurs à structure parallèle written by Dominique Deblaise and published by . This book was released on 2006 with total page 165 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dans le but d’améliorer la précision de positionnement statique des manipulateurs à structure parallèle, nous proposons pour ces structures un modèle qui n’est plus uniquement géométrique, mais élasto-géométrique. Les paramètres de ce modèle sont identifiés au cours d’une phase d’étalonnage dédiée. Ces stratégies de modélisation et d’étalonnage sont appliquées à une structure parallèle Delta. La modélisation géométrique faisant intervenir 42 paramètres, intègre de possibles défauts de géométries des parallélogrammes. Le modèle de déformation élastique proposé est fondé sur une analyse de la rigidité des structures parallèles par éléments finis qui, grâce à 6 paramètres préalablement identifiés, prend en compte la raideur des liaisons passives de la structure. Des validations expérimentales montrent que l’identification des paramètres de ce modèle élasto-géométrique permet d’accroître la précision de positionnement statique de la structure, et ce, quel qu’en soit son chargement.

L'étalonnage des robots manipulateurs industriels

Author : MAURINE Patrick
Publisher : Lavoisier
ISBN 13 : 2746295245
Total Pages : 354 pages
Book Rating : 4.7/5 (462 download)

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Book Synopsis L'étalonnage des robots manipulateurs industriels by : MAURINE Patrick

Download or read book L'étalonnage des robots manipulateurs industriels written by MAURINE Patrick and published by Lavoisier. This book was released on 2013-03-01 with total page 354 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fruit d’une étroite collaboration entre la recherche universitaire et le monde de l’industrie, cet ouvrage traite de la robotique industrielle, et tout particulièrement de l’étalonnage des robots manipulateurs. Il développe les aspects suivants : la représentation des structures des robots manipulateurs sériels et parallèles ; les principes généraux de l’étalonnage ; les méthodes d’étalonnage spécifiques aux robots sériels et parallèles ; l’innovation en robotique, ses réussites et ses échecs. Théorique et pragmatique, il s’adresse aux étudiants et aux chercheurs, aux techniciens et aux ingénieurs et à tous ceux qui désirent appréhender la robotique industrielle. Patrick Maurine est maître de conférences à l’INSA de Rennes. Ses travaux portent sur la précision et l’étalonnage des robots manipulateurs industriels. Jean-François Quinet est consultant en robotique appliquée à l’ensemble de l’industrie internationale depuis 1973. Ses activités portent aussi sur la mesure tridimensionnelle statique et dynamique.

CONTRIBUTION A LA MODELISATION GEOMETRIQUE ET A L'ETALONNAGE DES ROBOTS SERIES ET PARALLELES

Author : OVIDIU DRAGOS.. MURARECI
Publisher :
ISBN 13 :
Total Pages : 186 pages
Book Rating : 4.:/5 (49 download)

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Book Synopsis CONTRIBUTION A LA MODELISATION GEOMETRIQUE ET A L'ETALONNAGE DES ROBOTS SERIES ET PARALLELES by : OVIDIU DRAGOS.. MURARECI

Download or read book CONTRIBUTION A LA MODELISATION GEOMETRIQUE ET A L'ETALONNAGE DES ROBOTS SERIES ET PARALLELES written by OVIDIU DRAGOS.. MURARECI and published by . This book was released on 1997 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt: LES TRAVAUX PRESENTES DANS CETTE THESE SE DECOMPOSENT EN TROIS PARTIES. DANS LA PREMIERE, NOUS AVONS ETUDIE LA MODELISATION GEOMETRIQUE INVERSE DES ROBOTS A 6 DEGRES DE LIBERTE. LA DEUXIEME EST CONSACREE A L'ETUDE DE L'ESPACE DE TRAVAIL AINSI QU'AUX SINGULARITES D'UNE ARCHITECTURE PARTICULIERE DE ROBOTS PARALLELES ET LA TROISIEME PRESENTE L'ETALONNAGE DES ROBOTS PARALLELES GENERAUX A 6 DEGRES DE LIBERTE. LA METHODE DE RAGHAVAN ET ROTH ETUDIEE PERMET DE RESOUDRE LE MODELE GEOMETRIQUE INVERSE DES ROBOTS SERIES A 6 DEGRES DE LIBERTES SOUS LA FORME D'UN POLYNOME CARACTERISTIQUE DE DEGRE 16 EN UNE VARIABLE ARTICULAIRE, LES AUTRES ETANT OBTENUES DE FACON UNIQUE. NOUS AVONS PROPOSE DE PRENDRE EN COMPTE LES PARTICULARITES GEOMETRIQUES DES ROBOTS POUR SIMPLIFIER CETTE METHODE EN REDUISANT LE NOMBRE D'EQUATIONS UTILISEES ET LE DEGRE DU POLYNOME. NOUS AVONS INTEGRE CETTE RESOLUTION DANS LE LOGICIEL DE MODELISATION DES ROBOTS SYMORO+. DANS LA DEUXIEME PARTIE NOUS AVONS ETUDIE L'ESPACE DE TRAVAIL D'UN ROBOT PARALLELE POUR LEQUEL LA POSITION ET L'ORIENTATION ETAIT DECOUPLEES. L'ETUDE DES POSITIONS SINGULIERES DE CE ROBOT NOUS A PERMIS D'OBSERVER LEUR RELATION AVEC LE MODELE GEOMETRIQUE DIRECT ET D'ETENDRE A CE ROBOT PARALLELE LA NOTION D'ASPECT GENERALEMENT APPLIQUEE AUX ROBOTS SERIES. DANS LA DERNIERE PARTIE DE NOS TRAVAUX, NOUS NOUS SOMMES ATTACHES A L'ETALONNAGE DES ROBOTS PARALLELES. NOUS AVONS AMELIORE UNE METHODE D'ETALONNAGE UTILISANT DES CAPTEURS REDONDANTS SUR LES ARTICULATIONS PASSIVES DES CARDANS: LE TEMPS D'EXECUTION DE L'ETALONNAGE EST CONSIDERABLEMENT REDUIT. NOUS AVONS ENFIN PROPOSE UNE METHODE ORIGINALE NE NECESSITANT AUCUN CAPTEUR SUPPLEMENTAIRE. LE PRINCIPE CONSISTE A FIXER SUCCESSIVEMENT L'ORIENTATION DE PLUSIEURS BRAS. LES ANGLES DES ARTICULATIONS PASSIVES DES CARDANS DES BRAS FIXES SONT CONSTANTS ET L'ETALONNAGE S'EFFECTUE EN MINIMISANT LA DIFFERENCE ENTRE DEUX VALEURS D'ARTICULATIONS PASSIVES DES CARDANS POUR DES CONFIGURATIONS DIFFERENTES DU ROBOT

CONTRIBUTIONS A L'ETALONNAGE GEOMETRIQUE DES ROBOTS MANIPULATEURS

Author : Gilles Guyot
Publisher :
ISBN 13 : 9782726109090
Total Pages : 164 pages
Book Rating : 4.1/5 (9 download)

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Book Synopsis CONTRIBUTIONS A L'ETALONNAGE GEOMETRIQUE DES ROBOTS MANIPULATEURS by : Gilles Guyot

Download or read book CONTRIBUTIONS A L'ETALONNAGE GEOMETRIQUE DES ROBOTS MANIPULATEURS written by Gilles Guyot and published by . This book was released on 1995 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: LES TRAVAUX EXPOSES DANS CETTE THESE CONCERNENT PRINCIPALEMENT LA MODELISATION GEOMETRIQUE DES ROBOTS MANIPULATEURS, L'IDENTIFICATION DES PARAMETRES DU MODELE GEOMETRIQUE ET L'ETUDE D'UN SYSTEME DE METROLOGIE ADAPTE A L'ETALONNAGE GEOMETRIQUE DE CE TYPE DE ROBOTS. APRES AVOIR INTRODUIT LE PROBLEME DE L'ETALONNAGE GEOMETRIQUE, NOUS PRESENTONS LA METHODE UTILISEE POUR OBTENIR LE MODELE GEOMETRIQUE DU ROBOT MANIPULATEUR A ETALONNER. LE PROBLEME DE L'IDENTIFIABILITE DES PARAMETRES EST ENSUITE RESOLU A L'AIDE D'UNE METHODE FORMELLE QUI PERMET DE DEFINIR A PRIORI UN ENSEMBLE DE PARAMETRES IDENTIFIABLES EN FONCTION DU TYPE DE MESURES DISPONIBLES. CETTE PREMIERE PARTIE DE L'ETUDE A DEBOUCHE SUR LE DEVELOPPEMENT D'UN LOGICIEL D'ETALONNAGE GEOMETRIQUE VALIDE AUX COURS DE DIFFERENTS TESTS EXPERIMENTAUX. DANS LA SECONDE PARTIE DE CETTE ETUDE NOUS PROPOSONS UNE NOUVELLE METHODE D'ETALONNAGE QUI NE NECESSITE PAS DE MESURES DE LA SITUATION D'UN REPERE LIE A L'ORGANE TERMINAL DU ROBOT. BASE SUR CE PRINCIPE D'ETALONNAGE NOUS PRESENTONS DANS LA DERNIERE PARTIE UN SYSTEME DE METROLOGIE ORIGINAL QUI PERMET D'OBTENIR LES DONNEES DE MESURE NECESSAIRES A L'IDENTIFICATION DES PARAMETRES DU MODELE GEOMETRIQUE

Parallel Kinematic Machines

Author : C.R. Boer
Publisher : Springer Science & Business Media
ISBN 13 : 144710885X
Total Pages : 450 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Parallel Kinematic Machines by : C.R. Boer

Download or read book Parallel Kinematic Machines written by C.R. Boer and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel Kinematic Machines (PKMs) are one of the most radical innovations in production equipment. They attempt to combine the dexterity of robots with the accuracy of machine tools to respond to several industrial needs. This book contains the proceedings of the first European-American Forum on Parallel Kinematic Machines, held in Milan, Italy from 31 August - 1 September 1998. The Forum was established to provide institutions, technology suppliers and industrial end users with an improved understanding of the real advantages to be gained from using PKMs. This book contributes to a mid-term strategy oriented to reduce time to market and costs, improve production flexibility and minimize environmental impacts to increase worldwide competitiveness. In particular the authors focus on enabling technologies and emerging concepts for future manufacturing applications of PKMs. Topics include: Current status of PKM R&D in Europe, the USA and Asia. Industrial requirements, roadblocks and application opportunities. Research issues and possibilities. Industrial applications and requirements.

Dynamics of Parallel Robots

Author : Sébastien Briot
Publisher : Springer
ISBN 13 : 3319197886
Total Pages : 356 pages
Book Rating : 4.3/5 (191 download)

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Book Synopsis Dynamics of Parallel Robots by : Sébastien Briot

Download or read book Dynamics of Parallel Robots written by Sébastien Briot and published by Springer. This book was released on 2015-06-22 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Parallel Robots

Author : J.P. Merlet
Publisher : Springer
ISBN 13 :
Total Pages : 392 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Parallel Robots by : J.P. Merlet

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).

Recent Advances in Integrated Design and Manufacturing in Mechanical Engineering

Author : Grigore Gogu
Publisher : Springer Science & Business Media
ISBN 13 : 940170161X
Total Pages : 541 pages
Book Rating : 4.4/5 (17 download)

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Book Synopsis Recent Advances in Integrated Design and Manufacturing in Mechanical Engineering by : Grigore Gogu

Download or read book Recent Advances in Integrated Design and Manufacturing in Mechanical Engineering written by Grigore Gogu and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 541 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents recent advances in the integration and the optimization of product design and manufacturing systems. The book is divided into 3 chapters corresponding to the following three main topics : - optimization of product design process (mechanical design process, mass customization, modeling the product representation, computer support for engineering design, support systems for tolerancing, simulation and optimization tools for structures and for mechanisms and robots), -optimization of manufacturing systems (multi-criteria optimization and fuzzy volumes, tooth path generation, machine-tools behavior, surface integrity and precision, process simulation), - methodological aspects of integrated design and manufacturing (solid modeling, collaborative tools and knowledge formalization, integrating product and process design and innovation, robust and reliable design, multi-agent approach in VR environment). The present book is of interest to engineers, researchers, academic staff, and postgraduate students interested in integrated design and manufacturing in mechanical engineering.

Latest Advances in Robot Kinematics

Author : Jadran Lenarcic
Publisher : Springer Science & Business Media
ISBN 13 : 9400746202
Total Pages : 468 pages
Book Rating : 4.4/5 (7 download)

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Book Synopsis Latest Advances in Robot Kinematics by : Jadran Lenarcic

Download or read book Latest Advances in Robot Kinematics written by Jadran Lenarcic and published by Springer Science & Business Media. This book was released on 2012-05-19 with total page 468 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.

Mechanism and Machine Science

Author : Xianmin Zhang
Publisher : Springer
ISBN 13 : 9811028753
Total Pages : 1515 pages
Book Rating : 4.8/5 (11 download)

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Book Synopsis Mechanism and Machine Science by : Xianmin Zhang

Download or read book Mechanism and Machine Science written by Xianmin Zhang and published by Springer. This book was released on 2016-11-15 with total page 1515 pages. Available in PDF, EPUB and Kindle. Book excerpt: These proceedings collect the latest research results in mechanism and machine science, intended to reinforce and improve the role of mechanical systems in a variety of applications in daily life and industry. Gathering more than 120 academic papers, it addresses topics including: Computational kinematics, Machine elements, Actuators, Gearing and transmissions, Linkages and cams, Mechanism design, Dynamics of machinery, Tribology, Vehicle mechanisms, dynamics and design, Reliability, Experimental methods in mechanisms, Robotics and mechatronics, Biomechanics, Micro/nano mechanisms and machines, Medical/welfare devices, Nature and machines, Design methodology, Reconfigurable mechanisms and reconfigurable manipulators, and Origami mechanisms. This is the fourth installment in the IFToMM Asian conference series on Mechanism and Machine Science (ASIAN MMS 2016). The ASIAN MMS conference initiative was launched to provide a forum mainly for the Asian community working in Mechanism and Machine Science, in order to facilitate collaboration and improve the visibility of activities in the field. The series started in 2010 and the previous ASIAN MMS events were successfully held in Taipei, China (2010), Tokyo, Japan (2012), and Tianjin, China (2014). ASIAN MMS 2016 was held in Guangzhou, China, from 15 to 17 December 2016, and was organized by the South China University under the patronage of the IFToMM and the Chinese Mechanical Engineering Society (CMES). The aim of the Conference was to bring together researchers, industry professionals and students from the broad range of disciplines connected to Mechanism Science in a collegial and stimulating environment. The ASIAN MMS 2016 Conference provided a platform allowing scientists to exchange notes on their scientific achievements and establish new national and international collaborations concerning the mechanism science field and its applications, mainly but not exclusively in Asian contexts.

New Trends in Mechanism and Machine Science

Author : Doina Pisla
Publisher : Springer Nature
ISBN 13 : 3030550613
Total Pages : 539 pages
Book Rating : 4.0/5 (35 download)

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Book Synopsis New Trends in Mechanism and Machine Science by : Doina Pisla

Download or read book New Trends in Mechanism and Machine Science written by Doina Pisla and published by Springer Nature. This book was released on 2020-08-20 with total page 539 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume presents the latest research and industrial applications in the areas of mechanism science, robotics and dynamics. The respective contributions cover such topics as computational kinematics, control issues in mechanical systems, mechanisms for medical rehabilitation, mechanisms for minimally invasive techniques, cable robots, design issues for mechanisms and robots, and the teaching and history of mechanisms. Written by leading researchers and engineers, and selected by means of a rigorous international peer-review process, the papers highlight numerous exciting ideas that will spur novel research directions and foster multidisciplinary collaborations. They reflect the outcomes of the 8th European Conference on Mechanism Science (EuCoMeS) in 2020.

Intelligent Robotics and Applications

Author : Xin-Jun Liu
Publisher :
ISBN 13 : 9783030890964
Total Pages : 0 pages
Book Rating : 4.8/5 (99 download)

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Book Synopsis Intelligent Robotics and Applications by : Xin-Jun Liu

Download or read book Intelligent Robotics and Applications written by Xin-Jun Liu and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 4-volume set LNAI 13013 - 13016 constitutes the proceedings of the 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021, which took place in Yantai, China, during October 22-25, 2021. The 299 papers included in these proceedings were carefully reviewed and selected from 386 submissions. They were organized in topical sections as follows: Robotics dexterous manipulation; sensors, actuators, and controllers for soft and hybrid robots; cable-driven parallel robot; human-centered wearable robotics; hybrid system modeling and human-machine interface; robot manipulation skills learning; micro_nano materials, devices, and systems for biomedical applications; actuating, sensing, control, and instrumentation for ultra-precision engineering; human-robot collaboration; robotic machining; medical robot; machine intelligence for human motion analytics; human-robot interaction for service robots; novel mechanisms, robots and applications; space robot and on-orbit service; neural learning enhanced motion planning and control for human robot interaction; medical engineering.

Advances in Robot Kinematics 2018

Author : Jadran Lenarcic
Publisher : Springer
ISBN 13 : 3319931881
Total Pages : 474 pages
Book Rating : 4.3/5 (199 download)

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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.

Advances in Robot Kinematics: Motion in Man and Machine

Author : Jadran Lenarčič
Publisher : Springer Science & Business Media
ISBN 13 : 9048192625
Total Pages : 551 pages
Book Rating : 4.0/5 (481 download)

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Book Synopsis Advances in Robot Kinematics: Motion in Man and Machine by : Jadran Lenarčič

Download or read book Advances in Robot Kinematics: Motion in Man and Machine written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2010-07-20 with total page 551 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ?rst International Meeting of Advances in Robot Kinematics, ARK, occurred in September 1988, by invitation to Ljubljana, Slovenia, of a group of 20 int- nationally recognized researchers, representing six different countries from three continents. There were 22 lectures and approximately 150 attendees. This success of bringing together excellent research and the international community, led to the formation of a Scienti?c Committee and the decision to repeat the event biannually. The meeting was made open to all individuals with a critical peer review process of submitted papers. The meetings have since been continuously supported by the Jozef ? Stefan Institute and since 1992 have come under patronage of the Inter- tionalFederationforthePromotionofMechanismandMachineScience(IFToMM). Springer published the ?rst book of the series in 1991 and since 1994 Kluwer and Springer have published a book of the presented papers every two years. The papers in this book present the latest topics and methods in the kinem- ics, control and design of robotic manipulators. They consider the full range of - botic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. The meeting included recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, the analysis, modeling and simulation of human body motion, the mobility analysis of protein molecules and the development of systems which integrate man and - chine.

Parallel Kinematic Machines in Research and Practice

Author : Reimund Neugebauer
Publisher :
ISBN 13 : 9783937524405
Total Pages : 899 pages
Book Rating : 4.5/5 (244 download)

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Book Synopsis Parallel Kinematic Machines in Research and Practice by : Reimund Neugebauer

Download or read book Parallel Kinematic Machines in Research and Practice written by Reimund Neugebauer and published by . This book was released on 2006 with total page 899 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Type Synthesis of Parallel Mechanisms

Author : Xianwen Kong
Publisher : Springer
ISBN 13 : 3540719903
Total Pages : 280 pages
Book Rating : 4.5/5 (47 download)

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Book Synopsis Type Synthesis of Parallel Mechanisms by : Xianwen Kong

Download or read book Type Synthesis of Parallel Mechanisms written by Xianwen Kong and published by Springer. This book was released on 2007-10-28 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), a key issue in the creative design of a wide variety of innovative devices such as parallel manipulators, motion simulators, and haptic devices. Essential reading for researchers, developers, engineers and graduate students with interests in robotics, this book covers the classification of PMs as well as providing a large number of PMs ready to be used in practical applications.

Cable-Driven Parallel Robots

Author : Andreas Pott
Publisher : Springer
ISBN 13 : 3319761382
Total Pages : 475 pages
Book Rating : 4.3/5 (197 download)

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Book Synopsis Cable-Driven Parallel Robots by : Andreas Pott

Download or read book Cable-Driven Parallel Robots written by Andreas Pott and published by Springer. This book was released on 2018-03-27 with total page 475 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cable-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.