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Symbolic Kinematics And Dynamics Analysis And Control Of A General Stewart Parallel Manipulator
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Book Synopsis Symbolic Kinematics and Dynamics Analysis and Control of a General Stewart Parallel Manipulator by : Yao Wang
Download or read book Symbolic Kinematics and Dynamics Analysis and Control of a General Stewart Parallel Manipulator written by Yao Wang and published by . This book was released on 2008 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: Application of parallel manipulator has received a lot of attention recently in the industry and the robotic community due to its high accuracy, high rigidity, high operation speed, high load capacity and high stiffness as compared with the conventional serial manipulator. One of the most popular parallel manipulators that are commonly used for aircraft simulator is the general purpose 6 degree-of-freedom (DOF) Stewart parallel manipulator. Despite these advantages, the kinematic and dynamic analyses are extremely complicated. Such models are important in terms of qualitative analysis of the required actuator forces to realize certain end-effector task (inverse dynamics), and computing the corresponding end-effector task based on certain input to the system (forward dynamics). However, till date, not much general symbolic solution is reported to aid the above process. Most of the prior work required some form of heuristic, or introduction of extra spring/damper elements to approximate the solutions. This thesis addresses the possibility in using the state-of-the-art symbolic manipulation software tool to derive the general kinematic and dynamic equation of motion of the system so that more accurate solution can be computed. However, there are still consideration are needed to accurately simulate such systems. We address these issues using the example of Stewart parallel manipulator and highlight the solution to the corresponding challenges. Control using stabilizing inverse dynamics was implemented to enhance trajectory tracking of the system.
Book Synopsis Parallel Manipulators by : Jee-Hwan Ryu
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.
Book Synopsis Symbolic Dynamics and Controls of a Parallel Manipulator by : Yao Wang
Download or read book Symbolic Dynamics and Controls of a Parallel Manipulator written by Yao Wang and published by . This book was released on 2009 with total page 115 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Proceedings of DINAME 2017 by : Agenor de T. Fleury
Download or read book Proceedings of DINAME 2017 written by Agenor de T. Fleury and published by Springer. This book was released on 2018-07-20 with total page 562 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most significant contributions to the DINAME 2017 conference, covering a range of dynamic problems to provide insights into recent trends and advances in a broad variety of fields seldom found in other proceedings volumes. DINAME has been held every two years since 1986 and is internationally recognized as a central forum for discussing scientific achievements related to dynamic problems in mechanics. Unlike many other conferences, it employs a single-session format for the oral presentations of all papers, which limits the number of accepted papers to roughly 100 and makes the evaluation process extremely rigorous. The papers gathered here will be of interest to all researchers, graduate students and engineering professionals working in the fields of mechanical and mechatronics engineering and related areas around the globe.
Book Synopsis KINEMATIC, DYNAMIC AND WORKSPACE ANALYSIS OF A NOVEL 6-DOF PARALLEL MANIPULATOR by : Hrishi Shah
Download or read book KINEMATIC, DYNAMIC AND WORKSPACE ANALYSIS OF A NOVEL 6-DOF PARALLEL MANIPULATOR written by Hrishi Shah and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A parallel manipulator is a closed loop kinematic chain mechanism that is connected to the base via multiple independent kinematic chains. Parallel manipulators have found numerous applications in industries ranging from airplane simulators to high-speed pick and place robots due to their higher load-carrying capacities and improved stiffness as compared to their serial counterparts. These advantages arise due to the presence of kinematic-closed loops within the manipulator that allow for the load to be transmitted to the ground via multiple chains. However, these kinematic closed loops also cause the workspace of parallel manipulators to be severely limited and also pose a major challenge to their analysis and control. Another problem is the evaluation of the workspace that is simultaneous affected by so many geometric parameters of the parallel manipulator. Parallel platform manipulators consist of a central platform attached to the base via multiple legs.^One of the most popular parallel manipulators is the 6-DOF Stewart-Gough platform. It has 6-UPS architecture and has been the focus of much work till date. However, the main problem is the power consumption of the manipulator because of the bulky prismatic actuators lying along the links. Hence, we explore a novel design of a parallel manipulator with 6PUS architecture that has the prismatic actuators attached to the base, thereby making the legs lighter and the device energy efficient on the whole. We will refer to this novel design as the "Hexapod" for the rest of this work. The goal of this work is to look into the following aspects of parallel manipulators with special reference to the Hexapod:* Workspace analysis* Modeling, Equation of Motion (EOM) generation and simulationIn this work, we dwell into the workspace analysis of parallel platform manipulators. Since the workspace of a parallel manipulator is quite complex, it takes a considerable amount of time to compute it.^However, in order to optimize a parallel mechanism for workspace, an efficient and universal way of workspace analysis is necessary. We propose an improved method of calculating the constant orientation workspace of any parallel platform manipulator. Finally, we use a CAD package to speed up the process to make a case for CAD-enhanced workspace analysis and showcase its general application to any parallel platform manipulator. Another study explores a novel method for computing the equations of motion automatically by using a symbolic computation engine called Maple. We also explore how this method of symbolic equation generation, coupled with an easy to use interface called Maplesim; can be beneficial in augmenting the learning in robotics courses. The next task is to employ these EOM's to formulate control strategies and test them in simulations.
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 Serial and Parallel Robot Manipulators by : Serdar Küçük
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
Book Synopsis Parallel Manipulators by : Cecilia Norton
Download or read book Parallel Manipulators written by Cecilia Norton and published by Nova Science Publishers. This book was released on 2016 with total page 171 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots are a key element in current industrial processes, as they can be applied to a number of tasks, increasing both quality and productivity. Traditionally, serial robots have been installed in factories, as their wide operating space allowed them to fulfill a number of tasks. However, due to their high moving mass and single kinematic chain structure, these robots present some disadvantages when high speed, accuracy or heavy load handling tasks have to be executed. Parallel robots provide an interesting alternative to these application fields, as their multiple kinematic chain structure offers increased stiffness, allowing reduced positioning errors, lighter mechanisms and increased load/weight ratios. In this book, Chapter One addresses a new control strategy for parallel manipulators based on L1 adaptive control. This latter is known for its decoupled control and estimation loops, enabling fast adaptation and guaranteed robustness. Chapter Two focuses on the control of parallel robots. Chapter Three reviews structure synthesis of fully-isotropic two-rotational and two-translational parallel robotic manipulators. Chapter Four reviews the new prototype of the two-legged, parallel kinematic walking robot CENTAUROB, developed at Hamburg University of Technology. Chapter Five analyzes and robustly controls the 6-DOF 3-legged Wide-Open parallel manipulator, using a Lyapunov analysis approach.
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
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 A Mathematical Introduction to Robotic Manipulation by : Richard M. Murray
Download or read book A Mathematical Introduction to Robotic Manipulation written by Richard M. Murray and published by CRC Press. This book was released on 2017-12-14 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
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 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.
Book Synopsis Kinematics, Dynamics and Control of High Precision Parallel Manipulators by : Wing-Fung Jacob Cheung
Download or read book Kinematics, Dynamics and Control of High Precision Parallel Manipulators written by Wing-Fung Jacob Cheung and published by . This book was released on 2017-01-27 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation, "Kinematics, Dynamics and Control of High Precision Parallel Manipulators" by Wing-fung, Jacob, Cheung, 張穎鋒, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author. Abstract: Abstracts of thesis entitled Kinematics, Dynamics and Control of High Precision Parallel Manipulators Submitted by Cheung Wing Fung Jacob for the degree of Doctor of Philosophy at The University of Hong Kong in March 2007 End-point positioning accuracy, fast point-to-point motion travel and stable operation are essential in high-precision motion mechanisms for industrial applications such as semiconductor packaging. In this thesis, a high-precision 2-DOF planar parallel manipulator and a 4-DOF spatial parallel manipulator are developed to advance the motion capabilities of traditional XY table and overcome difficulties in the kinematics design and end-point positioning accuracy of existing parallel manipulators. Novel methods of kinematics design and optimization, dynamic modelling and advanced control strategies are integrated in a complete design of the proposed manipulators to achieve high-speed positioning of the end-effector to an accuracy of micrometer unit. Modular design approaches are developed for designing the kinematics structure of the proposed parallel manipulators. In this design process, consideration is given to ensuring that the kinematics design can be realized to the required tolerance using existing mechanical construction technology. A Monte-Carlo simulation method is developed to determine the workspace of the parallel manipulator, and a Jacobian decoupling approach is developed to verify that the workspace of the manipulator is free of internal singularity. Kinematics optimization is performed to suppress the kinematics error magnification effect so that the end-effector positioning accuracy matches the manufacturing tolerance of the linkages. A dynamic model is essential for motion analysis, capability estimation and controller design of the parallel manipulator. The derivation of the dynamic model is simplified using a nested approach whereby the 4-DOF parallel manipulator is decomposed into triangular mechanisms at the actuator level and at the end-effector level, resulting in a high degree of decoupling in the modelling process. Recursive Newton-Euler method is employed to determine the dynamic model. The response of the dynamic model is simulated using sinusoidal force profiles to drive the linear actuators of the manipulator. The results obtained from the kinematics design, optimization and dynamic modelling are used to develop prototypes of the planar and 4-DOF parallel manipulators for the purpose of experimentation. A traditional PID computed-torque controller is first designed for the 2-DOF planar and the 4-DOF parallel manipulators using a model-based approach. In view of the limitations of the computed-torque control method, a robust learning control method is developed to enhance the motion performance by minimizing the settling time and steady-state error of the parallel manipulators. A frequency-domain system identification approach is used to identify the high frequency dynamics of the manipulator. A robust control design method is employed to design a stable, fast tracking-response feedback controller with less sensitivity to high frequency disturbance, with the control parameters determined using genetic algorithm. A Fourier-series based iterative learning controller is added to the feedforward path of the controller to improve the settling time by reducing the dynamic tracking
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 Basics of Robotics by : Adam Morecki
Download or read book Basics of Robotics written by Adam Morecki and published by Springer. This book was released on 2014-05-04 with total page 589 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains the basic concepts of modern robotics, basic definitions, systematics of robots in industry, service, medicine and underwater activity. Important information on walking and mili-walking machines are included as well as possible applications of microrobots in medicine, agriculture, underwater activity.
Book Synopsis Cable-Driven Parallel Robots by : Tobias Bruckmann
Download or read book Cable-Driven Parallel Robots written by Tobias Bruckmann and published by Springer Science & Business Media. This book was released on 2012-09-09 with total page 443 pages. Available in PDF, EPUB and Kindle. Book excerpt: Gathering 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.
