Parallel Robots


Author: J.P. Merlet
Publisher: Springer Science & Business Media
ISBN: 9401095876
Category: Technology & Engineering
Page: 356
View: 3780

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Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).

Parallel Robots

Mechanics and Control
Author: Hamid D. Taghirad
Publisher: CRC Press
ISBN: 1466599286
Category: Technology & Engineering
Page: 533
View: 3499

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Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics and control. Filling this gap, Parallel Robots: Mechanics and Control presents a systematic approach to analyze the kinematics, dynamics, and control of parallel robots. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures in industry. Covers Kinematics, Dynamics, and Control in One Volume The book begins with the representation of motion of robots and the kinematic analysis of parallel manipulators. Moving beyond static positioning, it then examines a systematic approach to performing Jacobian analysis. A special feature of the book is its detailed coverage of the dynamics and control of parallel manipulators. The text examines dynamic analysis using the Newton-Euler method, the principle of virtual work, and the Lagrange formulations. Finally, the book elaborates on the control of parallel robots, considering both motion and force control. It introduces various model-free and model-based controllers and develops robust and adaptive control schemes. It also addresses redundancy resolution schemes in detail. Analysis and Design Tools to Help You Create Parallel Robots In each chapter, the author revisits the same case studies to show how the techniques may be applied. The case studies include a planar cable-driven parallel robot, part of a promising new generation of parallel structures that will allow for larger workspaces. The MATLAB® code used for analysis and simulation is available online. Combining the analysis of kinematics and dynamics with methods of designing controllers, this text offers a holistic introduction for anyone interested in designing and implementing parallel robots.

Robot Analysis

The Mechanics of Serial and Parallel Manipulators
Author: Lung-Wen Tsai
Publisher: John Wiley & Sons
ISBN: 9780471325932
Category: Technology & Engineering
Page: 505
View: 7151

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Complete, state–of–the–art coverage of robot analysis This unique book provides the fundamental knowledge needed for understanding the mechanics of both serial and parallel manipulators. Presenting fresh and authoritative material on parallel manipulators that is not available in any other resource, it offers an in–depth treatment of position analysis, Jacobian analysis, statics and stiffness analysis, and dynamical analysis of both types of manipulators, including a discussion of industrial and research applications. It also features: ∗ The homotopy continuation method and dialytic elimination method for solving polynomial systems that apply to robot kinematics ∗ Numerous worked examples and problems to reinforce learning ∗ An extensive bibliography offering many resources for more advanced study Drawing on Dr. Lung–Wen Tsai′s vast experience in the field as well as recent research publications, Robot Analysis is a first–rate text for upper–level undergraduate and graduate students in mechanical engineering, electrical engineering, and computer studies, as well as an excellent desktop reference for robotics researchers working in industry or in government.

Mechatronics

Dynamics of Electromechanical and Piezoelectric Systems
Author: A. Preumont
Publisher: Springer Science & Business Media
ISBN: 1402046960
Category: Technology & Engineering
Page: 200
View: 2469

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This volume treats Lagrange equations for electromechanical systems, including piezoelectric transducers and selected applications. It is essentially an extension to piezoelectric systems of the work by Crandall et al.:"Dynamics of Mechanical and Electromechanical Systems", published in 1968. The first three chapters contain classical material based on this and other well known standard texts in the field. Some applications are new and include material not published in a monograph before.

Twelve Lectures on Structural Dynamics


Author: André Preumont
Publisher: Springer Science & Business Media
ISBN: 9400763832
Category: Technology & Engineering
Page: 305
View: 5467

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This text addresses the modeling of vibrating systems with the perspective of finding the model of minimum complexity which accounts for the physics of the phenomena at play. The first half of the book (Ch.1-6) deals with the dynamics of discrete and continuous mechanical systems; the classical approach emphasizes the use of Lagrange's equations. The second half of the book (Ch.7-12) deals with more advanced topics, rarely encountered in the existing literature: seismic excitation, random vibration (including fatigue), rotor dynamics, vibration isolation and dynamic vibration absorbers; the final chapter is an introduction to active control of vibrations. The first part of this text may be used as a one semester course for 3rd year students in Mechanical, Aerospace or Civil Engineering. The second part of the text is intended for graduate classes. A set of problems is provided at the end of every chapter. The author has a 35 years experience in various aspects of Structural dynamics, both in industry (nuclear and aerospace) and in academia; he was one of the pioneers in the field of active structures. He is the author of several books on random vibration, active structures and structural control.

Structural Synthesis of Parallel Robots

Part 1: Methodology
Author: Grigore Gogu
Publisher: Springer Science & Business Media
ISBN: 9781402057106
Category: Technology & Engineering
Page: 706
View: 6285

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This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. Part 1 presents the methodology proposed for structural synthesis. Part 2 presents the various topologies of parallel robots generated by this systematic approach. Many solutions are presented here for the first time. The book will contribute to a widespread implementation of these solutions in industrial products.

Modern Robotics


Author: Kevin M. Lynch,Frank C. Park
Publisher: Cambridge University Press
ISBN: 1107156300
Category: Computers
Page: 544
View: 364

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A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Flexible Multibody Dynamics


Author: O. A. Bauchau
Publisher: Springer Science & Business Media
ISBN: 9789400703353
Category: Technology & Engineering
Page: 730
View: 3819

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The author developed this text over many years, teaching graduate courses in advanced dynamics and flexible multibody dynamics at the Daniel Guggenheim School of Aerospace Engineering of the Georgia Institute of Technology. The book presents a unified treatment of rigid body dynamics, analytical dynamics, constrained dynamics, and flexible multibody dynamics. A comprehensive review of numerical tools used to enforce both holonomic and nonholonomic constraints is presented. Advanced topics such as Maggi’s, index-1, null space, and Udwadia and Kalaba’s formulations are presented because of their fundamental importance in multibody dynamics. Methodologies for the parameterization of rotation and motion are discussed and contrasted. Geometrically exact beams and shells formulations, which have become the standard in flexible multibody dynamics, are presented and numerical aspects of their finite element implementation detailed. Methodologies for the direct solution of the index-3 differential-algebraic equations characteristic of constrained multibody systems are presented. It is shown that with the help of proper scaling procedures, such equations are not more difficult to integrate than ordinary differential equations. This book is illustrated with numerous examples and should prove valuable to both students and researchers in the fields of rigid and flexible multibody dynamics.

Dynamics of Underactuated Multibody Systems

Modeling, Control and Optimal Design
Author: Robert Seifried
Publisher: Springer Science & Business Media
ISBN: 3319012282
Category: Technology & Engineering
Page: 249
View: 6678

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Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

Structural Synthesis of Parallel Robots

Part 3: Topologies with Planar Motion of the Moving Platform
Author: Grigore Gogu
Publisher: Springer Science & Business Media
ISBN: 9789048198313
Category: Technology & Engineering
Page: 686
View: 5250

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“In other words, the invention of a mechanism will be to the scientific kinematist a synthetic problem, - which he can solve by the use of systematic, if also difficult, methods.” Reuleaux, F., Theoretische Kinematik, Braunschweig: Vieweg, 1875 Reuleaux, F., The Kinematics of Machinery, London: Macmillan, 1876 and New York: Dover, 1963 (translated by A.B.W. Kennedy) This book represents the third part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 (Gogu 2008a) presented the methodology of structural synthesis and the systematisation of structural solutions of simple and complex limbs with two to six degrees of connectivity systematically generated by the structural synthesis approach. Part 2 (Gogu 2009a) presented structural solutions of translational parallel robotic manipulators with two and three degrees of mobility. This book focuses on various topologies of parallel robotic manipulators with planar motion of the moving platform systematically generated by using the structural synthesis approach proposed in Part 1. The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms.

Mechanisms and Robots Analysis with MATLAB®


Author: Dan B. Marghitu
Publisher: Springer Science & Business Media
ISBN: 1848003900
Category: Technology & Engineering
Page: 480
View: 9755

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Modern technical advancements in areas such as robotics, multi-body systems, spacecraft, control, and design of complex mechanical devices and mechanisms in industry require the knowledge to solve advanced concepts in dynamics. “Mechanisms and Robots Analysis with MATLAB” provides a thorough, rigorous presentation of kinematics and dynamics. The book uses MATLAB as a tool to solve problems from the field of mechanisms and robots. The book discusses the tools for formulating the mathematical equations, and also the methods of solving them using a modern computing tool like MATLAB. An emphasis is placed on basic concepts, derivations, and interpretations of the general principles. The book is of great benefit to senior undergraduate and graduate students interested in the classical principles of mechanisms and robotics systems. Each chapter introduction is followed by a careful step-by-step presentation, and sample problems are provided at the end of every chapter.

Parallel Robots


Author: J.P. Merlet
Publisher: Springer Science & Business Media
ISBN: 9401095876
Category: Technology & Engineering
Page: 356
View: 1614

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Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).

Computational Kinematics


Author: J. Angeles,Günter Hommel,Peter Kovács
Publisher: Springer Science & Business Media
ISBN: 9401581924
Category: Science
Page: 310
View: 5694

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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.

Nonlinear Vibration with Control

For Flexible and Adaptive Structures
Author: David Wagg,Simon Neild
Publisher: Springer
ISBN: 9783319331027
Category: Technology & Engineering
Page: 453
View: 7142

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This book provides a comprehensive discussion of nonlinear multi-modal structural vibration problems, and shows how vibration suppression can be applied to such systems by considering a sample set of relevant control techniques. It covers the basic principles of nonlinear vibrations that occur in flexible and/or adaptive structures, with an emphasis on engineering analysis and relevant control techniques. Understanding nonlinear vibrations is becoming increasingly important in a range of engineering applications, particularly in the design of flexible structures such as aircraft, satellites, bridges, and sports stadia. There is an increasing trend towards lighter structures, with increased slenderness, often made of new composite materials and requiring some form of deployment and/or active vibration control. There are also applications in the areas of robotics, mechatronics, micro electrical mechanical systems, non-destructive testing and related disciplines such as structural health monitoring. Two broader themes cut across these application areas: (i) vibration suppression – or active damping – and, (ii) adaptive structures and machines. In this expanded 2nd edition, revisions include: An additional section on passive vibration control, including nonlinear vibration mounts. A more in-depth description of semi-active control, including switching and continuous schemes for dampers and other semi-active systems. A complet e reworking of normal form analysis, which now includes new material on internal resonance, bifurcation of backbone curves and stability analysis of forced responses. Further analysis of the nonlinear dynamics of cables including internal resonance leading to whirling. Additional material on the vibration of systems with impact friction. The book is accessible to practitioners in the areas of application, as well as students and researchers working on related topics. In particular, the aim is to introduce the key concepts of nonlinear vibration to readers who have an understanding of linear vibration and/or linear control, but no specialist knowledge in nonlinear dynamics or nonlinear control.

Cable-Driven Parallel Robots


Author: Tobias Bruckmann,Andreas Pott
Publisher: Springer Science & Business Media
ISBN: 3642319874
Category: Technology & Engineering
Page: 454
View: 1061

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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.

Introduction to Robotics

Mechanics and Control
Author: John J. Craig
Publisher: Prentice Hall
ISBN: 9780133489798
Category: Technology & Engineering
Page: 448
View: 8826

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For senior-year undergraduate and first-year graduate courses in robotics. An intuitive introduction to robotic theory and application Since its original publication in 1986, Craig's Introduction to Robotics: Mechanics and Control has been the leading textbook for teaching robotics at the university level. Blending traditional mechanical engineering material with computer science and control theoretical concepts, the text covers a range of topics, including rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear and non-linear control, force control methodologies, mechanical design aspects, and robotic programming. The 4th Edition features a balance of application and theory, introducing the science and engineering of mechanical manipulation--establishing and building on foundational understanding of mechanics, control theory, and computer science. With an emphasis on computational aspects of problems, the text aims to present material in a simple, intuitive way.

Mechanisms, Transmissions and Applications

Proceedings of the Third MeTrApp Conference 2015
Author: Burkhard Corves,Erwin-Christian Lovasz,Mathias Hüsing
Publisher: Springer
ISBN: 3319170678
Category: Technology & Engineering
Page: 352
View: 1681

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This volume deals with topics such as mechanism and machine design, biomechanics and medical engineering, gears, mechanical transmissions, mechatronics, computational and experimental methods, dynamics of mechanisms and machines, micromechanisms and microactuators, and history of mechanisms and transmissions. Following MeTrApp 2011 and 2013, held under the auspices of the IFToMM, these proceedings of the 3rd Conference on Mechanisms, Transmissions and Applications offer a platform for original research presentations for researchers, scientists, industry experts and students in the fields of mechanisms and transmissions with special emphasis on industrial applications in order to stimulate the exchange of new and innovative ideas.

Computational Kinematics ’95

Proceedings of the Second Workshop on Computational Kinematics, held in Sophia Antipolis, France, September 4–6, 1995
Author: J.P. Merlet,Bahram Ravani
Publisher: Springer Science & Business Media
ISBN: 940110333X
Category: Technology & Engineering
Page: 310
View: 5525

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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 nu merical type, but also of symbolic as well as geometric 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 questions such as the number of solutions, whether real or complex, that a given problem can admit as well as computational algorithms to support geo metric analysis. Problems of the first kind occur frequently in the analysis and synthesis of kinematic chains, when fine 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. The algebraic equations at hand can take the form of multivariate polynomials or may involve trigonometric functions of unknown angles.

Service Robots and Robotics: Design and Application

Design and Application
Author: Ceccarelli, Marco
Publisher: IGI Global
ISBN: 1466602929
Category: Technology & Engineering
Page: 441
View: 6125

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"This book offers the latest research within the field of service robotics, using a mixture of case studies, research, and future direction in this burgeoning field of technology"--

Advanced Mechanics in Robotic Systems


Author: Nestor Eduardo Nava Rodríguez
Publisher: Springer Science & Business Media
ISBN: 9780857295880
Category: Technology & Engineering
Page: 105
View: 3596

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Humans have always been fascinated with the concept of artificial life and the construction of machines that look and behave like people. As the field of robotics evolves, it demands continuous development of successful systems with high-performance characteristics for practical applications. Advanced Mechanics in Robotic Systems illustrates original and ambitious mechanical designs and techniques for developing new robot prototypes with successful mechanical operational skills. Case studies are focused on projects in mechatronics that have high growth expectations: humanoid robots, robotics hands, mobile robots, parallel manipulators, and human-centred robots. A good control strategy requires good mechanical design, so a chapter has also been devoted to the description of suitable methods for control architecture design. Readers of Advanced Mechanics in Robotic Systems will discover novel designs for relevant applications in robotic fields, that will be of particular interest to academic and industry-based researchers.