Dynamics of Parallel Robots : From Rigid Bodies to Flexible Elements

Language: English

Published by Springer, 2016

3319356607 / 9783319356600

Series: Book 28 of 139 - Mechanisms and Machine Science

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Seller: AHA-BUCH GmbH, Einbeck, GermanyAHA-BUCH GmbH

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Druck auf Anfrage Neuware - Printed after ordering - 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 optimaltrajectory 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.…

Seller Inventory # 9783319356600

Title
Dynamics of Parallel Robots : From Rigid Bodies to Flexible Elements
Author
Wisama Khalil
Publisher
Springer
Publication year
2016
Condition
Neu
Binding
Taschenbuch
Language
English
ISBN 10
3319356607
ISBN 13
9783319356600
Item weight
563 grams
Dimensions
235x155x21 mm
Series
Book 28 of 139: Mechanisms and Machine Science

AHA-BUCH GmbH

Einbeck, Germany

5-star seller

AbeBooks seller since August 14, 2006

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