9783319197876 - dynamics of parallel robots: from rigid bodies to flexible elements (mechanisms and machine science, 35, band 35) von briot, sébastien; khalil, wisama (3 Ergebnisse)
Sprache: Englisch
Verlag: Springer, 2015
Serie: Mechanisms and Machine Science, Buch 28 von 139. Buch 28 von 139 - Mechanisms and Machine Science
- Hardcover
Anbieter: Ria Christie Collections, Uxbridge, Vereinigtes KönigreichRia Christie Collections
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Zustand: New. In.
Sprache: Englisch
Verlag: Springer, 2015
Serie: Mechanisms and Machine Science, Buch 28 von 139. Buch 28 von 139 - Mechanisms and Machine Science
- Hardcover
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Hardcover. Zustand: Brand New. 2015 edition. 370 pages. French language. 9.25x6.25x1.00 inches. In Stock.
Sprache: Englisch
Verlag: Springer International Publishing, Springer International Publishing, 2015
Serie: Mechanisms and Machine Science, Buch 28 von 139. Buch 28 von 139 - Mechanisms and Machine Science
- Hardcover
Anbieter: AHA-BUCH GmbH, Einbeck, DeutschlandAHA-BUCH GmbH
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Buch. Zustand: Neu. Druck auf Anfrage Neuware - Printed after ordering - 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 g…eometry 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 optimaltrajectory 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.
