Parallel Robots With Unconventional Joints Kinematics and Motion Planning /

This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without...

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Bibliographic Details
Main Authors: Grosch, Patrick (Author), Thomas, Federico (Author)
Corporate Author: SpringerLink (Online service)
Format: e-Book
Language:English
Published: Cham : Springer International Publishing : 2019.
Imprint: Springer,
Edition:1st ed. 2019.
Series:Parallel Robots: Theory and Applications,
Subjects:
Machinery.
Control engineering.
Robotics.
Automation.
Artificial intelligence.
Machinery and Machine Elements.
Control, Robotics, Automation.
Artificial Intelligence.
Online Access:Full-text access
Description
Summary:This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robot's ability to bring its mobile platform to the desired configuration. The kinematics of the most representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations. .
Physical Description:VIII, 107 p. 52 illus., 42 illus. in color. online resource.
ISBN:9783030113049
ISSN:2524-6240
DOI:10.1007/978-3-030-11304-9

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