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Dynamics of parallel robots[electronic resource] :from rigid bodies to flexible elements /

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
杜威分類號:	629.892
書名/作者:	Dynamics of parallel robots : from rigid bodies to flexible elements // by Sebastien Briot, Wisama Khalil.
作者:	Briot, Sebastien.
其他作者:	Khalil, Wisama.
出版者:	Cham : : Springer International Publishing :, 2015.
面頁冊數:	xvii, 350 p. : : ill., digital ;; 24 cm.
Contained By:	Springer eBooks
標題:	Parallel robots.
標題:	Engineering.
標題:	Vibration, Dynamical Systems, Control.
標題:	Control, Robotics, Mechatronics.
標題:	Mechanical Engineering.
ISBN:	9783319197883 (electronic bk.)
ISBN:	9783319197876 (paper)
摘要、提要註:	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.
電子資源:	http://dx.doi.org/10.1007/978-3-319-19788-3

Dynamics of parallel robots[electronic resource] :from rigid bodies to flexible elements /
Briot, Sebastien.

Dynamics of parallel robotsfrom rigid bodies to flexible elements /[electronic resource] :by Sebastien Briot, Wisama Khalil. - Cham :Springer International Publishing :2015. - xvii, 350 p. :ill., digital ;24 cm. - Mechanisms and machine science,v.352211-0984 ;. - Mechanisms and machine science ;v.2..

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.

ISBN: 9783319197883 (electronic bk.)

Standard No.: 10.1007/978-3-319-19788-3doiSubjects--Topical Terms:

464768
Parallel robots.

LC Class. No.: TJ211.4152

Dewey Class. No.: 629.892

Dynamics of parallel robots[electronic resource] :from rigid bodies to flexible elements /
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