Kinematic Analysis and Synthesis of Kinematically Redundant Hybrid Parallel Robots PDF Download

Author: Jadran Lenarčič
Publisher: Springer Science & Business Media
ISBN: 9780792364269
Category : Computers
Languages : en
Pages : 456

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The results should interest researchers, teachers, and students, in fields of engineering and mathematics related to robot theory, design, control and application."--BOOK JACKET.

Author: Kefei Wen
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Résumé en anglais

Author: Grigore Gogu
Publisher: Springer
ISBN: 9789048198306
Category : Technology & Engineering
Languages : en
Pages : 686

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“In other words, the invention of a mechanism will be to the scientific kinematist a synthetic problem, - which he can solve by the use of systematic, if also difficult, methods.” Reuleaux, F., Theoretische Kinematik, Braunschweig: Vieweg, 1875 Reuleaux, F., The Kinematics of Machinery, London: Macmillan, 1876 and New York: Dover, 1963 (translated by A.B.W. Kennedy) This book represents the third part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 (Gogu 2008a) presented the methodology of structural synthesis and the systematisation of structural solutions of simple and complex limbs with two to six degrees of connectivity systematically generated by the structural synthesis approach. Part 2 (Gogu 2009a) presented structural solutions of translational parallel robotic manipulators with two and three degrees of mobility. This book focuses on various topologies of parallel robotic manipulators with planar motion of the moving platform systematically generated by using the structural synthesis approach proposed in Part 1. The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms.

Author: Jadran Lenarčič
Publisher: Springer Science & Business Media
ISBN: 9781402006968
Category : Computers
Languages : en
Pages : 558

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Book Description
This book presents the most recent research advances in the theory, design, control, and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion, and biomechanics.

Author: Hamid D. Taghirad
Publisher: CRC Press
ISBN: 1466555769
Category : Technology & Engineering
Languages : en
Pages : 537

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Book Description
Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics and control. Filling this gap, Parallel Robots: Mechanics and Control presents a systematic approach to analyze the kinematics, dynamics, and control of parallel robots. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures in industry. Covers Kinematics, Dynamics, and Control in One Volume The book begins with the representation of motion of robots and the kinematic analysis of parallel manipulators. Moving beyond static positioning, it then examines a systematic approach to performing Jacobian analysis. A special feature of the book is its detailed coverage of the dynamics and control of parallel manipulators. The text examines dynamic analysis using the Newton-Euler method, the principle of virtual work, and the Lagrange formulations. Finally, the book elaborates on the control of parallel robots, considering both motion and force control. It introduces various model-free and model-based controllers and develops robust and adaptive control schemes. It also addresses redundancy resolution schemes in detail. Analysis and Design Tools to Help You Create Parallel Robots In each chapter, the author revisits the same case studies to show how the techniques may be applied. The case studies include a planar cable-driven parallel robot, part of a promising new generation of parallel structures that will allow for larger workspaces. The MATLAB® code used for analysis and simulation is available online. Combining the analysis of kinematics and dynamics with methods of designing controllers, this text offers a holistic introduction for anyone interested in designing and implementing parallel robots.

Author: Grigore Gogu
Publisher: Springer Science & Business Media
ISBN: 1402097948
Category : Technology & Engineering
Languages : en
Pages : 774

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“The mathematical investigations referred to bring the whole apparatus of a great science to the examination of the properties of a given mechanism, and have accumulated in this direction rich material, of enduring and increasing value. What is left unexamined is however the other, immensely deeper part of the problem, the question: How did the mechanism, or the elements of which it is composed, originate? What laws govern its building up? Is it indeed formed according to any laws whatever? Or have we simply to accept as data what invention gives us, the analysis of what is thus obtained being the only scientific problem left – as in the case of natural history?” Reuleaux, F., Theoretische Kinematik, Braunschweig: Vieweg, 1875 Reuleaux, F., The Kinematics of Machinery, London: Macmillan, 1876 and New York: Dover, 1963 (translated by A.B.W. Kennedy) This book represents the second part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 already published in 2008 (Gogu 2008a) has presented the methodology proposed for structural synthesis. This book focuses on various topologies of translational parallel robots systematically generated by using the structural synthesis approach proposed in Part 1. The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms.

Author: Tan Sy Nguyen
Publisher:
ISBN:
Category : Human-robot interaction
Languages : en
Pages : 0

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This thesis investigates motion control methods and physical human robot interaction (pHRI) control strategies for two robotic systems, namely a kinematically redundant hybrid parallel robot (KRHPR) and a macro-mini system. The kinematic analysis, the dynamic modelling, as well as the control methods proposed in the thesis can be generalized for a class of robots with similar architecture. The thesis firstly introduces a novel kinematically redundant (6+3)-degree-of-freedom (DoF) spatial hybrid parallel robot with revolute actuators. The kinematic equations are developed and the singularities are examined. The translational and rotational workspace of the robot is then analysed. Also, a new mechanism is introduced to operate a gripper using the redundant DoFs. Thanks to the backdrivability of the robot, a controller - which can flexibly switch between two modes: position control and interaction control - is developed to demonstrate the potential use of this robot for physical interaction without using a force/torque sensor or joint torque sensors. Secondly, the motion control problem is investigated for a class of spatial kinematically redundant hybrid parallel robots. The kinematics are recalled and the dynamics are analysed. Based on this analysis, a proposed method referred to as hybrid control algorithm is proposed. It combines a simplified computed-torque controller, that operates in the joint space, with a Cartesian compensation, that operates in the task space of the robot. The stability of this approach is verified. Then, experiments are carried out on two example architectures. The results are examined and compared to those obtained with other methods to validate the effectiveness of the proposed approach. The motion control of a macro-mini system, which combines the hybrid parallel robot and a gantry system, is then investigated. The kinematics and the dynamics of the combined system are mainly analysed in the task space since it can be assumed that the position of the macro and the mini is stably determined by their own controllers. Motion control methods, namely mid-ranging control and Model Predictive Control, are generalized and adapted. Also, the combination of PI and the redundancy resolution is proposed. Each control method is implemented and used to perform the same trajectory. Afterwards, the control error is determined in order to compare the performance of the different methods. The physical human robot interaction is then studied for each of the robotic platforms mentioned above. On the KRHPR, a stiffness-damping control is specifically developed for pHRI applications. On the macro-mini system, the interaction method is also examined. The stability and the operational performance is analysed in detail. Experiments involving pHRI are then conducted and some demonstrations of potential applications are also presented. Finally, the conclusion summarizes the results obtained and discusses current limitations and potential future work.

Author: Jadran Lenarčič
Publisher: Springer
ISBN: 9783319860053
Category : Technology & Engineering
Languages : en
Pages : 0

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Book Description
This book brings together 46 peer-reviewed papers that are of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. These papers cover the full range of robotic systems, including serial, parallel and cable-driven manipulators, both planar and spatial. The systems range from being less than fully mobile, to kinematically redundant, to over-constrained. In addition to these more familiar areas, the book also highlights recent advances in some emerging areas: such as the design and control of humanoids and humanoid subsystems; the analysis, modeling and simulation of human-body motions; mobility analyses of protein molecules; and the development of machines that incorporate man.

Author: Jadran Lenarčič
Publisher: Springer Science & Business Media
ISBN: 1402086008
Category : Technology & Engineering
Languages : en
Pages : 472

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Book Description
This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.

Author: Jadran Lenarčič
Publisher: Springer Nature
ISBN: 3031640578
Category :
Languages : en
Pages : 451

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