Dynamics of Parallel Robots

From Rigid Bodies to Flexible Elements

Nonfiction, Science & Nature, Technology, Automation, Engineering, Mechanical
Cover of the book Dynamics of Parallel Robots by Sébastien Briot, Wisama Khalil, Springer International Publishing
View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart
Author: Sébastien Briot, Wisama Khalil ISBN: 9783319197883
Publisher: Springer International Publishing Publication: June 22, 2015
Imprint: Springer Language: English
Author: Sébastien Briot, Wisama Khalil
ISBN: 9783319197883
Publisher: Springer International Publishing
Publication: June 22, 2015
Imprint: Springer
Language: English

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.

View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart

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.

More books from Springer International Publishing

Cover of the book 5G Mobile Communications by Sébastien Briot, Wisama Khalil
Cover of the book From Mafia to Organised Crime by Sébastien Briot, Wisama Khalil
Cover of the book Arsenic Water Resources Contamination by Sébastien Briot, Wisama Khalil
Cover of the book Trends in Contemporary Mathematics by Sébastien Briot, Wisama Khalil
Cover of the book Climate Change Impacts on High-Altitude Ecosystems by Sébastien Briot, Wisama Khalil
Cover of the book The Poetics of Migration in Contemporary Irish Poetry by Sébastien Briot, Wisama Khalil
Cover of the book Electrochemistry in Ionic Liquids by Sébastien Briot, Wisama Khalil
Cover of the book Corruption and Norms by Sébastien Briot, Wisama Khalil
Cover of the book Multiagent System Technologies by Sébastien Briot, Wisama Khalil
Cover of the book Evidence Based Treatments for Trauma-Related Psychological Disorders by Sébastien Briot, Wisama Khalil
Cover of the book The Church and the State in France, 1789-1870 by Sébastien Briot, Wisama Khalil
Cover of the book Springer Handbook of Global Navigation Satellite Systems by Sébastien Briot, Wisama Khalil
Cover of the book Collaborative Approach to Trade by Sébastien Briot, Wisama Khalil
Cover of the book Dynamics of Underactuated Multibody Systems by Sébastien Briot, Wisama Khalil
Cover of the book Metal Scrappers and Thieves by Sébastien Briot, Wisama Khalil
We use our own "cookies" and third party cookies to improve services and to see statistical information. By using this website, you agree to our Privacy Policy