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 Transpacific Correspondence by Sébastien Briot, Wisama Khalil
Cover of the book Sociology of Exorcism in Late Modernity by Sébastien Briot, Wisama Khalil
Cover of the book Robust and Distributed Hypothesis Testing by Sébastien Briot, Wisama Khalil
Cover of the book Fuzzy Information and Engineering and Decision by Sébastien Briot, Wisama Khalil
Cover of the book New Frontiers in Mining Complex Patterns by Sébastien Briot, Wisama Khalil
Cover of the book Etiology of Acute Leukemias in Children by Sébastien Briot, Wisama Khalil
Cover of the book Eighteenth-Century Women's Writing and the 'Scandalous Memoir' by Sébastien Briot, Wisama Khalil
Cover of the book The Linguistics of Spoken Communication in Early Modern English Writing by Sébastien Briot, Wisama Khalil
Cover of the book Mussolini and the Salò Republic, 1943–1945 by Sébastien Briot, Wisama Khalil
Cover of the book Industrial Applications of Affective Engineering by Sébastien Briot, Wisama Khalil
Cover of the book Enterprise Information Systems by Sébastien Briot, Wisama Khalil
Cover of the book Forest Soils by Sébastien Briot, Wisama Khalil
Cover of the book The Kuroshio Power Plant by Sébastien Briot, Wisama Khalil
Cover of the book Robot Operating System (ROS) by Sébastien Briot, Wisama Khalil
Cover of the book Pulmonary Vasculature Redox Signaling in Health and Disease 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