Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots PDF full book. Access full book title Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots by Dan Zhang. Download full books in PDF and EPUB format.
Author: Dan Zhang Publisher: Springer ISBN: 3319176838 Category : Technology & Engineering Languages : en Pages : 532
Book Description
This book covers the state-of-the-art technologies in dynamic balancing of mechanisms with minimum increase of mass and inertia. The synthesis of parallel robots based on the Decomposition and Integration concept is also covered in detail. The latest advances are described, including different balancing principles, design of reactionless mechanisms with minimum increase of mass and inertia, and synthesizing parallel robots. This is an ideal book for mechanical engineering students and researchers who are interested in the dynamic balancing of mechanisms and synthesizing of parallel robots. This book also: · Broadens reader understanding of the synthesis of parallel robots based on the Decomposition and Integration concept · Reinforces basic principles with detailed coverage of different balancing principles, including input torque balancing mechanisms · Reviews exhaustively the key recent research into the design of reactionless mechanisms with minimum increase of mass and inertia, such as the design of reactionless mechanisms with auxiliary parallelograms, the design of reactionless mechanisms with flywheels, and the design of reactionless mechanisms by symmetrical structure design.
Author: Dan Zhang Publisher: Springer ISBN: 3319176838 Category : Technology & Engineering Languages : en Pages : 532
Book Description
This book covers the state-of-the-art technologies in dynamic balancing of mechanisms with minimum increase of mass and inertia. The synthesis of parallel robots based on the Decomposition and Integration concept is also covered in detail. The latest advances are described, including different balancing principles, design of reactionless mechanisms with minimum increase of mass and inertia, and synthesizing parallel robots. This is an ideal book for mechanical engineering students and researchers who are interested in the dynamic balancing of mechanisms and synthesizing of parallel robots. This book also: · Broadens reader understanding of the synthesis of parallel robots based on the Decomposition and Integration concept · Reinforces basic principles with detailed coverage of different balancing principles, including input torque balancing mechanisms · Reviews exhaustively the key recent research into the design of reactionless mechanisms with minimum increase of mass and inertia, such as the design of reactionless mechanisms with auxiliary parallelograms, the design of reactionless mechanisms with flywheels, and the design of reactionless mechanisms by symmetrical structure design.
Author: Bin Wei Publisher: ISBN: Category : Languages : en Pages : 0
Book Description
Robotics have been used in many arenas, such as manufacturing, medical, and space. Currently, the use of robotics is limited with respect to performance capabilities. Improving the performance of robotic mechanisms is a main research area. In this thesis, performance improvement is achieved through the approaches of robotic mechanism synthesis design, dynamic balance, and adaptive control. A novel three degrees of freedom hybrid manipulator is designed. After discussing the advantages of this new type of hybrid manipulator, the kinematic and Jacobian matrix of this manipulator are analyzed. The kinematic performances, which include stiffness/compliance and workspace, are then analyzed and optimized, and the multi-objective optimization on the compliance and workspace is subsequently conducted. The dynamics of the proposed manipulator are analyzed based on the Lagrangian method. When robotic mechanisms move, because the center of mass is not fixed and angular momentum is not constant, vibration is produced in the system. Dynamic balance is normally achieved by using counterweight(s), counter-rotation(s) or damping methods. However, the problem is that the whole system will become heavier and have more inertia. It is here proposed that dynamic balancing can be achieved through reconfiguration, rather than using counter-devices, so that the system will not gain any unwanted weight. After designing a balanced single leg, the legs will be combined to synthesize parallel mechanisms, i.e. first dynamically balance a single leg by the reconfiguration method (decomposition) and then combine the balanced legs to synthesize the whole parallel mechanism (integration). As the mechanism is reconfigured, the control system has to be reconfigured accordingly. One way to address the control system reconfiguration is by breaking up the control functions into small functional modules, and from those modules assembling the control system. A hybrid controller for serial robotic manipulators is synthesized by combining a proportional-integral-derivative controller and a model reference adaptive controller in order to further improve the accuracy and joint convergence speed performance. The results show that the convergence speed for the hybrid controller is faster than that of the MRAC controller. The hybrid and MRAC controllers are both better than that of the PID controller. Experimental system is developed to model and verify the correctness of a reconfigured control system.
Author: Shaoping Bai Publisher: Springer ISBN: 3319181262 Category : Technology & Engineering Languages : en Pages : 430
Book Description
This volume contains the Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, held in Aalborg, Denmark, 2-4 June, 2015. The book contains papers on recent advances in the design of mechanisms and their robotic applications. It treats the following topics: mechanism design, mechanics of robots, parallel manipulators, actuators and their control, linkage and industrial manipulators, innovative mechanisms/robots and their applications, among others. The book can be used by researchers and engineers in the relevant areas of mechanisms, machines and robotics.
Author: Andrey E. Gorodetskiy Publisher: Springer ISBN: 3319997599 Category : Technology & Engineering Languages : en Pages : 337
Book Description
This book presents the latest achievements in the theory and practice of SEMS Group interaction by scientists from the Russian Academy of Sciences. It also discusses the development of methods for the design and simulation of SEMS Group interaction based on the principles of safety, flexibility and adaptability in behavior and intelligence and parallelism in information processing, computation and control. Recently, the task has been to ensure the functioning of robots within the framework of collective collaboration, so that they function efficiently, reliably and safely in real time. The topics covered include, but are not limited to, the following: - the planning behavior of the SEMS group;- methods and principles of designing of automatic control systems;- mathematical and computer modeling group interaction;- safety, flexibility and adaptability of the SEMS Group;- information-measuring soft- and hardware. This book is intended for students, scientists and engineers specializing in the field of smart electromechanical systems and robotics.
Author: Vigen Arakelian Publisher: Springer ISBN: 3319743635 Category : Technology & Engineering Languages : en Pages : 193
Book Description
This book presents the latest results in the field of dynamic decoupling of robot manipulators obtained in France, Russia, China and Austria. Manipulator dynamics can be highly coupled and nonlinear. The complicated dynamics result from varying inertia, interactions between the different joints, and nonlinear forces such as Coriolis and centrifugal forces. The dynamic decoupling of robot manipulators allows one to obtain a linear system, i.e. single-input and single output system with constant parameters. This simplifies the optimal control and accumulation of energy in manipulators. There are two ways to create the dynamically decoupled manipulators: via optimal mechanical design or control. This work emphasises mechatronic solutions. These will certainly improve the known design concepts permitting the dynamic decoupling of serial manipulators with a relatively small increase in total mass of the moving links taking into account the changing payload. For the first time such an approach has been applied on serial manipulators. Also of great interest is the dynamic decoupling control of parallel manipulators. Firstly, the dynamic model of redundant multi-axial vibration table with load has been established, and, secondly, its dynamic coupling characteristics have been analyzed. The discussed methods and applications of dynamic decoupling of robot manipulators are illustrated via CAD simulations and experimental tests.
Author: Satya Bir Singh Publisher: CRC Press ISBN: 1000029905 Category : Science Languages : en Pages : 261
Book Description
This research-oriented book, Applied Mechatronics and Mechanics: System Integration and Design, presents a clear and comprehensive introduction to applied mechatronics and mechanics. It presents some of the latest research and technical notes in the field of mechatronics and focuses on the application considerations and relevant practical issues that arise in the selection and design of mechatronics components and systems as well. In the field of mechatronics and mechanics, the variety of materials and their properties is reflected by the concepts and techniques needed to understand them: a rich mixture of mathematics, physics, and experiment. These are all combined in this informative book, based on the chapter authors’ years of experience in research and teaching. With the inclusion of several case studies, this valuable volume will enable readers to comprehend and design mechatronic systems by providing a frame of understanding to develop a truly interdisciplinary and integrated approach to engineering. It will be helpful to faculty and advanced students as well as specialists from all pertinent disciplines.
Author: João Carlos Mendes Carvalho Publisher: Springer ISBN: 3319675672 Category : Technology & Engineering Languages : en Pages : 569
Book Description
These are the Proceedings of the 6th International Symposium on Multibody Systems and Mechatronics (MUSME 2017) which was held in Florianópolis, Brazil, October 24-28, 2017. Topics addressed include analysis and synthesis of mechanisms; dynamics of multibody systems; design algorithms for mechatronic systems; simulation procedures and results; prototypes and their performance; robots and micromachines; experimental validations; theory of mechatronic simulation; mechatronic systems; and control of mechatronic systems. The MUSME 2017 Symposium was one of the activities of the FEIbIM Commission for Mechatronics and IFToMM technical Committees for Multibody Dynamics, Robotics and Mechatronics.
Author: Marco Ceccarelli Publisher: Springer Nature ISBN: 3030908488 Category : Technology & Engineering Languages : en Pages : 398
Book Description
The book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and purposes. The introduction illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots; chapter 3 deals with the mechanics of serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping.
Author: Zhengbing Hu Publisher: Springer Nature ISBN: 3030391620 Category : Technology & Engineering Languages : en Pages : 497
Book Description
This book discusses the latest advances in the development of artificial intelligence systems and their applications in various fields, from medicine and technology to education. It comprises papers presented at the Third International Conference of Artificial Intelligence, Medical Engineering, Education (AIMEE2019), held at the Mechanical Engineering Institute of the Russian Academy of Sciences, Moscow, Russia, on 1–3 October 2019. Covering topics such as mathematics and biomathematics; medical approaches; and technological and educational approaches, it is intended for the growing number of specialists and students in this field, as well as other readers interested in discovering where artificial intelligence systems can be applied in the future.
Author: Vigen Arakelian Publisher: Springer ISBN: 3319124900 Category : Technology & Engineering Languages : en Pages : 298
Book Description
In this book advanced balancing methods for planar and spatial linkages, hand operated and automatic robot manipulators are presented. It is organized into three main parts and eight chapters. The main parts are the introduction to balancing, the balancing of linkages and the balancing of robot manipulators. The review of state-of-the-art literature including more than 500 references discloses particularities of shaking force/moment balancing and gravity compensation methods. Then new methods for balancing of linkages are considered. Methods provided in the second part of the book deal with the partial and complete shaking force/moment balancing of various linkages. A new field for balancing methods applications is the design of mechanical systems for fast manipulation. Special attention is given to the shaking force/moment balancing of robot manipulators. Gravity balancing methods are also discussed. The suggested balancing methods are illustrated by numerous examples.