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...

Ful tanımlama

Detaylı Bibliyografya
Asıl Yazarlar: Grosch, Patrick (Yazar), Thomas, Federico (Yazar)
Müşterek Yazar: SpringerLink (Online service)
Materyal Türü: e-Kitap
Dil:İngilizce
Baskı/Yayın Bilgisi: Cham : Springer International Publishing : 2019.
Imprint: Springer,
Edisyon:1st ed. 2019.
Seri Bilgileri:Parallel Robots: Theory and Applications,
Konular:
Machinery.
Control engineering.
Robotics.
Automation.
Artificial intelligence.
Machinery and Machine Elements.
Control, Robotics, Automation.
Artificial Intelligence.
Online Erişim:Full-text access
İçindekiler:
  • 1 Introduction: lockable and non-holonomic joints
  • 1.1 Motivation
  • 1.2 Precursors
  • 1.3 Organization of this book
  • References
  • 2 Parallel robots with lockable revolute joints
  • 2.1 Kinematics of the 4RbRPS parallel robot
  • 2.2 Maneuvers
  • 2.3 Motion planning
  • 2.4 Hardware implementation
  • 2.5 Software implementation
  • References
  • 3 Spherical non-holonomic joints
  • 3.1 Under-actuated parallel robots with spherical non-holonomic joints
  • 3.2 Implementation of spherical non-holonomic joints
  • References
  • 4 Kinematics of the 3SnPU spatial robot
  • 4.1 The 3SnPU robot
  • 4.2 Instantaneous kinematics
  • 4.3 Statics analysis
  • 4.4 Singularities
  • 4.5 Controllability
  • 4.6 Example
  • References
  • 5 Motion planning for the 3SnPU robot
  • 5.1 Motion planning
  • 5.2 Using truncated series
  • 5.3 Example
  • References
  • 6 Kinematics of the Sn-2UPS spherical robot
  • 6.1 Kinematic model
  • 6.2 Deriving a bilinear model
  • 6.3 Singularities
  • 6.4 A, B, and rotations in R4
  • 6.5 Workspace computation
  • 7 Motion planning for the Sn-2UPS robot
  • 7.1 Kinematic model
  • 7.2 Three-move motion planner
  • 7.3 Two-move motion planner
  • 7.4 Single-move motion planner
  • 7.5 Example
  • 7.6 Implementation
  • References
  • 8 Conclusions.

Benzer Materyaller