By Sébastien Briot,Wisama Khalil
ISBN-10: 3319197878
ISBN-13: 9783319197876
ISBN-10: 3319356607
ISBN-13: 9783319356600
This e-book starts off with a brief recapitulation on easy innovations, universal to any different types of robots (serial, tree constitution, parallel, etc.), which are additionally useful for computation of the dynamic types of parallel robots. Then, as dynamics calls for using geometry and kinematics, the final equations of geometric and kinematic types of parallel robots are given. After, it truly is defined that parallel robotic dynamic types could be got by means of decomposing the true robotic into digital structures: a tree-structure robotic (equivalent to the robotic legs for which all joints will be actuated) plus a loose physique comparable to the platform. hence, the dynamics of inflexible tree-structure robots is analyzed and algorithms to acquire their dynamic types within the such a lot compact shape are given. The dynamic version of the genuine inflexible parallel robotic is got via last the loops by utilizing the Lagrange multipliers. the matter of the dynamic version degeneracy close to singularities is taken care of and optimum trajectory making plans for crossing singularities is proposed. finally, the process is prolonged to versatile parallel robots and the algorithms for computing their symbolic version within the such a lot compact shape are given. All theoretical advancements are verified via experiments.
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Dynamics of Parallel Robots: From Rigid Bodies to Flexible Elements (Mechanisms and Machine Science) by Sébastien Briot,Wisama Khalil
by David
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