Parallel Robots With Unconventional Joints Kinematics and Motion Planning /

• Κύριοι συγγραφείς: Grosch, Patrick (Συγγραφέας, http://id.loc.gov/vocabulary/relators/aut), Thomas, Federico (http://id.loc.gov/vocabulary/relators/aut)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2019.
• Έκδοση: 1st ed. 2019.
• Σειρά: Parallel Robots: Theory and Applications,
• Θέματα: Machinery.; Control engineering.; Robotics.; Mechatronics.; Artificial intelligence.; Machinery and Machine Elements.; Control, Robotics, Mechatronics.; Artificial Intelligence.

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...

Πίνακας περιεχομένων:

• 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.