Parallel Robots With Unconventional Joints

Kinematics and Motion Planning

Nonfiction, Science & Nature, Technology, Machinery, Automation
Cover of the book Parallel Robots With Unconventional Joints by Patrick Grosch, Federico Thomas, Springer International Publishing
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Author: Patrick Grosch, Federico Thomas ISBN: 9783030113049
Publisher: Springer International Publishing Publication: March 20, 2019
Imprint: Springer Language: English
Author: Patrick Grosch, Federico Thomas
ISBN: 9783030113049
Publisher: Springer International Publishing
Publication: March 20, 2019
Imprint: Springer
Language: English

This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robot's ability to bring its mobile platform to the desired configuration. The kinematics of the most representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations.  

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This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robot's ability to bring its mobile platform to the desired configuration. The kinematics of the most representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations.  

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