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Author : Vincent K. Chan
Publisher :
ISBN 13 :
Total Pages : 246 pages
Book Rating : 4.:/5 (471 download)
Download or read book Singularity Analysis and Redundant Actuation of Parallel Manipulators written by Vincent K. Chan and published by . This book was released on 2001 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Sung-Hoon Cha
Publisher :
ISBN 13 :
Total Pages : 234 pages
Book Rating : 4.:/5 (76 download)
Download or read book Singularity Avoidance for the 3-ṞRR Mechanism Using Kinematic Redundancy written by Sung-Hoon Cha and published by . This book was released on 2007 with total page 234 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Philip Anthony Voglewede
Publisher :
ISBN 13 :
Total Pages : 440 pages
Book Rating : 4.:/5 (556 download)
Download or read book Measuring Closeness to Singularities of Parallel Manipulators with Application to the Design of Redundant Actuation written by Philip Anthony Voglewede and published by . This book was released on 2004 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt: At a platform singularity, a parallel manipulator loses constraint. Adding redundant actuation in an existing leg or new leg can eliminate these types of singularities. However, redundant manipulators have been designed with little attention to frame invariant techniques. In this dissertation, physically meaningful measures for closeness to singularities in non-redundant manipulators are developed. Two such frameworks are constructed. The first framework is a constrained optimization problem that unifies seemingly unrelated existing measures and facilitates development of new measures. The second is a clearance propagation technique based on workspace generation. These closeness measures are expanded to include redundancy and thus can be used as objective functions for designing redundant actuation. The constrained optimization framework is applied to a planar three degree of freedom redundant parallel manipulator to show feasibility of the technique.
Author : Qinchuan Li
Publisher : Springer Nature
ISBN 13 : 9819905427
Total Pages : 303 pages
Book Rating : 4.8/5 (199 download)
Download or read book Performance Analysis and Optimization of Parallel Manipulators written by Qinchuan Li and published by Springer Nature. This book was released on 2023-07-04 with total page 303 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates the performance analysis and optimization design of parallel manipulators in detail. It discusses performance evaluation indices for workspace, kinematic, stiffness, and dynamic performance, single- and multi-objective optimization design methods, and ways to improve optimization design efficiency of parallel manipulators. This book collects the authors’ research results previously scattered in many journals and conference proceedings and presents them in a unified form after the methodical edition. As a result, numerous performance analyses and optimization of parallel manipulators are presented, in which the readers in the robotics community may be greatly interested. More importantly, readers can use the methods and tools introduced in this book to carry out performance evaluation and optimization of parallel manipulators by themselves. The book can provide important reference and guideline for undergraduate and graduate students, engineers, and researchers who are interested in design and application of parallel manipulators.
Author : Andreas Müller
Publisher :
ISBN 13 : 9789535104377
Total Pages : pages
Book Rating : 4.1/5 (43 download)
Download or read book Singularity-Free Dynamics Modeling and Control of Parallel Manipulators with Actuation Redundancy written by Andreas Müller and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Grigore Gogu
Publisher : Springer Science & Business Media
ISBN 13 : 940077401X
Total Pages : 667 pages
Book Rating : 4.4/5 (7 download)
Download or read book Structural Synthesis of Parallel Robots written by Grigore Gogu and published by Springer Science & Business Media. This book was released on 2013-09-24 with total page 667 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Author : Oscar Altuzarra
Publisher : Springer Nature
ISBN 13 : 3031081404
Total Pages : 494 pages
Book Rating : 4.0/5 (31 download)
Download or read book Advances in Robot Kinematics 2022 written by Oscar Altuzarra and published by Springer Nature. This book was released on 2022-06-17 with total page 494 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on the latest scientific achievements on robot kinematics provided by the prominent researchers participating in the 18th International Symposium on Advances in Robot Kinematics ARK2022, organized in the University of the Basque Country, Bilbao, Spain. It is of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. The book brings together 53 peer-reviewed papers. These cover the full range of robotic systems, including serial, parallel, flexible mechanisms, and cable-driven manipulators, and tackle problems such as: kinematic analysis of robots, robot modelling and simulation, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, kinematics in biological systems, flexible parallel manipulators, humanoid robots and humanoid subsystems.
Author : Serdar Küçük
Publisher : BoD – Books on Demand
ISBN 13 : 9535104373
Total Pages : 472 pages
Book Rating : 4.5/5 (351 download)
Download or read book Serial and Parallel Robot Manipulators written by Serdar Küçük and published by BoD – Books on Demand. This book was released on 2012-03-30 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotics is an important part of modern engineering and is related to a group of branches such as electric
Author : Grigore Gogu
Publisher : Springer Science & Business Media
ISBN 13 : 9048198313
Total Pages : 700 pages
Book Rating : 4.0/5 (481 download)
Download or read book Structural Synthesis of Parallel Robots written by Grigore Gogu and published by Springer Science & Business Media. This book was released on 2010-09-08 with total page 700 pages. Available in PDF, EPUB and Kindle. Book excerpt: “In other words, the invention of a mechanism will be to the scientific kinematist a synthetic problem, - which he can solve by the use of systematic, if also difficult, methods.” 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 third 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. This book focuses on various topologies of parallel robotic manipulators with planar motion of the moving platform 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.
Author :
Publisher :
ISBN 13 :
Total Pages : 63 pages
Book Rating : 4.:/5 (227 download)
Download or read book Analysis of Spatial Mechanisms for Quasi-Direct Drive Redundant Robots written by and published by . This book was released on 1996 with total page 63 pages. Available in PDF, EPUB and Kindle. Book excerpt: A serial-parallel robotic manipulator can be viewed as a closed mechanism with multiple-arms. It has the characteristics of both configurations: the high stiffness and accuracy of a parallel robot, and a large workspace and compact structure of a serial robot. Two serial-parallel robotic manipulators (a linkage robot and an articulated arm platform robot) were studied in this research on their direct and inverse kinematics, velocity, dynamics, and collision detection. The direct and inverse kinematics problems were solved using the wrist position of each arm. The inverse velocity problem was solved by the force analysis and the principle of virtual work. Based on the velocity analysis, the singularity problem was researched, and the redundant actuation was analyzed. The dynamic models were established using the Lagrange formulation. An efficient algorithm was introduced to detect link collision. This algorithm can be extended to multiple cooperating robots as well. MATLAB was used to simulate robot motion and to verify various control algorithms. To demonstrate the mobility and capability of a linkage robot, a prototype was built from off-the-shelf components whenever possible. Rhino robot's controller along with its motors is used to control this linkage robot.
Author : J.P. Merlet
Publisher : Springer
ISBN 13 :
Total Pages : 392 pages
Book Rating : 4.3/5 (91 download)
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).
Author : Jee-Hwan Ryu
Publisher : BoD – Books on Demand
ISBN 13 : 3902613203
Total Pages : 510 pages
Book Rating : 4.9/5 (26 download)
Download or read book Parallel Manipulators written by Jee-Hwan Ryu and published by BoD – Books on Demand. This book was released on 2008-04-01 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel manipulators are characterized as having closed-loop kinematic chains. Compared to serial manipulators, which have open-ended structure, parallel manipulators have many advantages in terms of accuracy, rigidity and ability to manipulate heavy loads. Therefore, they have been getting many attentions in astronomy to flight simulators and especially in machine-tool industries.The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in parallel manipulators. This book mainly introduces advanced kinematic and dynamic analysis methods and cutting edge control technologies for parallel manipulators. Even though this book only contains several samples of research activities on parallel manipulators, I believe this book can give an idea to the reader about what has been done in the field recently, and what kind of open problems are in this area.
Author : Korganbay Sagnayevich Sholanov
Publisher : Springer Nature
ISBN 13 : 3030560732
Total Pages : 168 pages
Book Rating : 4.0/5 (35 download)
Download or read book Parallel Manipulators of Robots written by Korganbay Sagnayevich Sholanov and published by Springer Nature. This book was released on 2020-09-10 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Author : H. Asada
Publisher : John Wiley & Sons
ISBN 13 : 9780471830290
Total Pages : 286 pages
Book Rating : 4.8/5 (32 download)
Download or read book Robot Analysis and Control written by H. Asada and published by John Wiley & Sons. This book was released on 1991-01-16 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.
Author : Jadran Lenarčič
Publisher : Springer Science & Business Media
ISBN 13 : 9781402006968
Total Pages : 558 pages
Book Rating : 4.0/5 (69 download)
Download or read book Advances in Robot Kinematics written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2002-06-30 with total page 558 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in the theory, design, control, and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion, and biomechanics.
Author : J.P. Merlet
Publisher : Springer Science & Business Media
ISBN 13 : 1402041330
Total Pages : 418 pages
Book Rating : 4.4/5 (2 download)
Download or read book Parallel Robots written by J.P. Merlet and published by Springer Science & Business Media. This book was released on 2006-07-01 with total page 418 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Author : W. Khalil
Publisher : Butterworth-Heinemann
ISBN 13 : 0080536611
Total Pages : 503 pages
Book Rating : 4.0/5 (85 download)
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
