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Kinematic Analysis Of Five Dof 3t2r Parallel Mechanisms With Identical Limb Structures
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Book Synopsis Advances in Robot Kinematics 2022 by : Oscar Altuzarra
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.
Book Synopsis Finite and Instantaneous Screw Theory in Robotic Mechanism by : Tao Sun
Download or read book Finite and Instantaneous Screw Theory in Robotic Mechanism written by Tao Sun and published by Springer Nature. This book was released on 2020-02-13 with total page 411 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications./div
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.
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 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.
Book Synopsis Mechanism and Machine Science by : Dibakar Sen
Download or read book Mechanism and Machine Science written by Dibakar Sen and published by Springer Nature. This book was released on 2020-07-01 with total page 873 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume presents select papers from the Asian Conference on Mechanism and Machine Science 2018. This conference includes contributions from both academic and industry researchers and will be of interest to scientists and students working in the field of mechanism and machine science.
Book Synopsis Smart Devices and Machines for Advanced Manufacturing by : Lihui Wang
Download or read book Smart Devices and Machines for Advanced Manufacturing written by Lihui Wang and published by Springer Science & Business Media. This book was released on 2008-02-28 with total page 401 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a collection of quality chapters on the state-of-the-art of research efforts in the area of smart devices and novel machine design, as well as their practical applications to enable advanced manufacturing. The first section presents a broad-based review of several key areas of research in smart devices and machines. The second section is focused on presenting an in-depth treatment of a particular device or machine. The book will be of interest to a broad readership.
Book Synopsis Advances in Industrial Machines and Mechanisms by : Y. V. D. Rao
Download or read book Advances in Industrial Machines and Mechanisms written by Y. V. D. Rao and published by Springer Nature. This book was released on 2021-07-20 with total page 719 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the select proceedings of the 1st International 13th National Conference on Industrial Problems on Machines and Mechanism (IPRoMM 2020) and examines issues in the design, manufacture, and performance of mechanical and mechatronic elements and systems that are employed in modern machines and devices. The topics covered include robotics, industrial CAD/CAM systems, mechatronics, machinery associated with conventional and unconventional manufacturing systems, material handling and automated assembly, mechanical and electro-mechanical systems of modern machinery and equipment, micro-devices, compliant mechanisms, hybrid electric vehicle and electric vehicle mechanisms, acoustic and noise control. This book also discusses the recent advances in the integration of IoT and Industry 4.0 in mechanism and machines. The book will be a valuable reference for academicians, researchers, and professionals interested in the design and development of industrial machines.
Book Synopsis Geometric Method for Type Synthesis of Parallel Manipulators by : Qinchuan Li
Download or read book Geometric Method for Type Synthesis of Parallel Manipulators written by Qinchuan Li and published by Springer. This book was released on 2019-07-03 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the synthesis of lower-mobility parallel manipulators, presenting a group-theory-based method that has the advantage of being geometrically intrinsic. Rotations and translations of a rigid body as well as a combination of the two can be expressed and handled elegantly using the group algebraic structure of the set of rigid-body displacements. The book gathers the authors’ research results, which were previously scattered in various journals and conference proceedings, presenting them in a unified form. Using the presented method, it reveals numerous novel architectures of lower-mobility parallel manipulators, which are of interest to those in the robotics community. More importantly, readers can use the method and tool to develop new types of lower-mobility parallel manipulators independently.
Book Synopsis Computational Kinematics by : Jorge Angeles
Download or read book Computational Kinematics written by Jorge Angeles and published by Springer. This book was released on 1993-09-30 with total page 310 pages. Available in PDF, EPUB and Kindle. Book excerpt: The aim of this book is to provide an account of the state of the art in Com putational Kinematics. We understand here under this term ,that branch of kinematics research involving intensive computations not only of the numer ical type, but also of a symbolic nature. Research in kinematics over the last decade has been remarkably ori ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental question s such as the number of solutions, whether real or complex, that a given problem can admit. Problems of this kind occur frequently in the analysis and synthesis of kinematic chains, when finite displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. What we mean by algebraic equations here is equations whereby the unknowns are numbers, as opposed to differen tial equations, where the unknowns are functions. The algebraic equations at hand can take on the form of multivariate polynomials or may involve trigonometric functions of unknown angles. Because of the nonlinear nature of the underlying kinematic models, purely numerical methods turn out to be too restrictive, for they involve iterative procedures whose convergence cannot, in general, be guaranteed. Additionally, when these methods converge, they do so to only isolated solu tions, and the question as to the number of solutions to expect still remains.
Book Synopsis Theory of Parallel Mechanisms by : Zhen Huang
Download or read book Theory of Parallel Mechanisms written by Zhen Huang and published by Springer Science & Business Media. This book was released on 2012-07-26 with total page 430 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains mechanism analysis and synthesis. In mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validity was only proved recently, is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its latest developments are described. This principle is suitable for kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularity is stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented. In mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, is introduced in detail. Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed.
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.
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 488 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 Robots and Screw Theory by : J. K. Davidson
Download or read book Robots and Screw Theory written by J. K. Davidson and published by Oxford University Press. This book was released on 2004-03-25 with total page 477 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots and Screw Theory describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed in the book are used in the control of robots and in the design of their major moving parts. The illustrative examples and the exercises in the book are taken principally from robotic machinery used for manufacturing and construction, but the principles apply equally well to miniature robotic devices and to those used in other industries. The comprehensive coverage of the screw and its geometry lead to reciprocal screw systems for statics and instantaneous kinematics. These screw systems are brought together in a unique way to show many cross-relationships between the force-systems that support a body equivalently to a kinematic serial connection of joints and links. No prior knowledge of screw theory is assumed. The reader is introduced to the screw with a simple planar example yet most of the book applies to robots that move three-dimensionally. Consequently, the book is suitable both as a text at the graduate-course level and as a reference book for the professional. Worked examples on every major topic and over 300 exercises clarify and reinforce the principles covered in the text. A chapter-length list of references gives the reader source-material and opportunities to pursue more fully topics contained in the text.
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 Science & Business Media. This book was released on 2007-09-04 with total page 537 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots - such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question in the previous edition).
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.
Book Synopsis Advances in Reconfigurable Mechanisms and Robots II by : Xilun Ding
Download or read book Advances in Reconfigurable Mechanisms and Robots II written by Xilun Ding and published by Springer. This book was released on 2015-11-23 with total page 1074 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent advances in the research and applications of reconfigurable mechanisms and robots. It collects 93 independently reviewed papers presented at the Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015) held in Beijing, China, 20-22 July 2015. The conference papers are organized into seven parts to cover the reconfiguration theory, topology, kinematics and design of reconfigurable mechanisms including reconfigurable parallel mechanisms. The most recent results on reconfigurable robots are presented including their analysis, design, simulation and control. Bio-inspired mechanisms are also explored in the challenging fields of rehabilitation and minimally invasive surgery. This book further addresses deployable mechanisms and origami-inspired mechanisms and showcases a wide range of successful applications of reconfigurable mechanisms and robots. Advances in Reconfigurable Mechanisms and Robots II should be of interest for researchers, engineers and postgraduate students in mechanical engineering, electrical engineering, computer science and mathematics.
