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Author: J.-P. Merlet Publisher: Springer Science & Business Media ISBN: 9401095876 Category : Technology & Engineering Languages : en Pages : 367
Book Description
Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Author: J.-P. Merlet Publisher: Springer Science & Business Media ISBN: 9401095876 Category : Technology & Engineering Languages : en Pages : 367
Book Description
Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Author: J.P. Merlet Publisher: Springer ISBN: Category : Computers Languages : en Pages : 392
Book Description
Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Author: W. Khalil Publisher: Butterworth-Heinemann ISBN: 0080536611 Category : Computers Languages : en Pages : 503
Book Description
Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level
Author: Sébastien Briot Publisher: Springer ISBN: 3319197886 Category : Technology & Engineering Languages : en Pages : 356
Book Description
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.
Author: Jadran Lenarčič Publisher: Springer ISBN: 3319066986 Category : Technology & Engineering Languages : en Pages : 536
Book Description
The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.
Author: Grigore Gogu Publisher: Springer Science & Business Media ISBN: 940170161X Category : Technology & Engineering Languages : en Pages : 541
Book Description
This book presents recent advances in the integration and the optimization of product design and manufacturing systems. The book is divided into 3 chapters corresponding to the following three main topics : - optimization of product design process (mechanical design process, mass customization, modeling the product representation, computer support for engineering design, support systems for tolerancing, simulation and optimization tools for structures and for mechanisms and robots), -optimization of manufacturing systems (multi-criteria optimization and fuzzy volumes, tooth path generation, machine-tools behavior, surface integrity and precision, process simulation), - methodological aspects of integrated design and manufacturing (solid modeling, collaborative tools and knowledge formalization, integrating product and process design and innovation, robust and reliable design, multi-agent approach in VR environment). The present book is of interest to engineers, researchers, academic staff, and postgraduate students interested in integrated design and manufacturing in mechanical engineering.
Author: Mark C. Readman Publisher: CRC Press ISBN: 9780849326011 Category : Technology & Engineering Languages : en Pages : 164
Book Description
Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited by joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate systems and includes an analysis of the fast dynamics.
Author: Dominic Reeve Publisher: CRC Press ISBN: 135116550X Category : Technology & Engineering Languages : en Pages : 675
Book Description
Effective coastal engineering is expensive, but it is not as costly as neglect or ineffective intervention. Good practice needs to be based on sound principles, but theoretical work and modelling also need to be well grounded in practice, which is continuously evolving. Conceptual and detailed design has been advanced by new industry publications since the publication of the second edition. This third edition provides a number of updates: the sections on wave overtopping have been updated to reflect changes brought in with the recently issued EurOtop II manual; a detailed worked example is given of the calculation of extreme wave conditions for design; additional examples have been included on the reliability of structures and probabilistic design; the method for tidal analysis and calculation of amplitudes and phases of harmonic constituents from water level time series has been introduced in a new appendix together with a worked example of harmonic analysis; and a real-life example is included of a design adapting to climate change. This book is especially useful as an information source for undergraduates and engineering MSc students specializing in coastal engineering and management. Readers require a good grounding in basic fluid mechanics or engineering hydraulics, and some familiarity with elementary statistical concepts.
Author: J.-P. Merlet
Author: J.-P. Merlet
Author: J.P. Merlet
Author: W. Khalil
Author: Sébastien Briot
Author: Jadran Lenarčič
Author: Grigore Gogu
Author: Mark C. Readman
Author: Dominic Reeve
Author: 
Author: Frank Popper