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Dynamics of parallel robotsfrom rigi...

Briot, Sebastien.

Dynamics of parallel robotsfrom rigid bodies to flexible elements /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Dynamics of parallel robotsby Sebastien Briot, Wisama Khalil.
其他題名:	from rigid bodies to flexible elements /
作者:	Briot, Sebastien.
其他作者:	Khalil, Wisama.
出版者:	Cham :Springer International Publishing :2015.
面頁冊數:	xvii, 350 p. :ill., digital ;24 cm.
Contained By:	Springer eBooks
標題:	Parallel robots.
電子資源:	http://dx.doi.org/10.1007/978-3-319-19788-3
ISBN:	9783319197883 (electronic bk.)

Dynamics of parallel robotsfrom rigid bodies to flexible elements /
Briot, Sebastien.

Dynamics of parallel robotsfrom rigid bodies to flexible elements /[electronic resource] :by Sebastien Briot, Wisama Khalil. - Cham :Springer International Publishing :2015. - xvii, 350 p. :ill., digital ;24 cm. - Mechanisms and machine science,v.352211-0984 ;. - Mechanisms and machine science ;v.2..

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.

ISBN: 9783319197883 (electronic bk.)

Standard No.: 10.1007/978-3-319-19788-3doiSubjects--Topical Terms:

321987
Parallel robots.

LC Class. No.: TJ211.4152

Dewey Class. No.: 629.892

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520 $a 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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