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Dynamics of Parallel Robots

Name: Dynamics of Parallel Robots
Brand: Springer International Publishing AG
SKU: 9783319197876
Price: 551.47 RON
Availability: InStock

From Rigid Bodies to Flexible Elements

Autor: Sébastien Briot, Wisama Khalil

Limbă:

Legare: Copertă tare

Editura: Springer International Publishing AG

Disponibilitate: În depozitul extern

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551.47 lei

This book starts with a short recapitulation on basic concepts, common to any types of robots (seria...

Informații despre carte

Autor

Sébastien Briot, Wisama Khalil

Limbă

engleză

Legare

Carte - Copertă tare

Publicat

2015

Pagini

350

EAN

9783319197876

ISBN

3319197878

Enbook ID

09296348

Editura

Springer International Publishing AG

Greutate

6801

Dimensiuni

155 x 235 x 243

Descriere completă

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.§

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Dynamics of Parallel Robots

From Rigid Bodies to Flexible Elements

Informații despre carte

Descriere completă

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