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Parallel Robots

Author: Jean-Pierre Merlet
Publisher: Dordrecht : Springer Netherlands, 2000.
Series: Solid mechanics and its applications, 74.
Edition/Format:   eBook : Document : EnglishView all editions and formats
Summary:
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  Read more...
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Details

Genre/Form: Electronic books
Additional Physical Format: Print version:
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Jean-Pierre Merlet
ISBN: 9789401095877 9401095876
OCLC Number: 851373097
Description: 1 online resource (380 pages).
Contents: 1 Introduction --
1.1 Characteristics of classical robots --
1.2 Other types of architecture --
1.3 Needs for robotics --
1.4 Parallel robots: definition --
1.5 Contents --
1.6 Exercises --
2 Architectures --
2.1 Introduction --
2.2 Planar robots --
2.3 Spatial motion robots --
2.4 Articulated truss --
2.5 Examples of applications --
2.6 Notion of standard manipulators --
2.7 Exercises --
3 Jacobian and inverse kinematics --
3.1 Inverse kinematics --
3.2 Inverse jacobian matrix --
3.3 Jacobian matrix --
3.4 Jacobian matrix and internal sensors --
3.5 Calibration --
3.6 Exercises --
4 Direct kinematics --
4.1 Planar mechanism --
4.2 Mechanisms for translations in space --
4.3 Spherical mechanisms --
4.4 6 degrees of freedom mechanisms --
4.5 Nair systematic method --
4.6 Case of the general robot --
4.7 Summary of results and conclusion --
4.8 Fast numerical methods --
4.9 Direct kinematics with extra sensors --
4.10 Conclusions --
4.11 Exercises --
5 Singular configurations --
5.1 Introduction --
5.2 State of the art --
5.3 Grassmann geometry --
5.4 Degrees of freedom associated with singularities --
5.5 Manipulability and condition number --
5.6 Practical search for singularities --
5.7 Mechanisms in permanent singularity --
5.8 Singularity-free path-planning --
5.9 Exercises --
6 Workspace --
6.1 Workspace limits and representation --
6.2 Calculation of the constant orientation workspace --
6.3 Planar manipulator --
6.4 6 dof manipulators --
6.5 Trajectory checking --
6.6 Path-planning --
6.7 Exercises --
7 Velocity and Acceleration --
7.1 Relations between the articular velocities and the generalized velocities --
7.2 Extrema of the generalized velocities --
7.3 Extrema of the articular velocities in a translation workspace --
7.4 Accelerations --
7.5 Conclusion --
7.6 Exercises --
8 Static analysis --
8.1 Relations between generalized and articular forces --
8.2 Articular forces and maximal generalized forces --
8.3 Parallel robots as force sensors --
8.4 Stiffness and compliance --
8.5 Extrema of the stiffnesses in a workspace --
8.6 Balancing --
8.7 Exercises --
9 Dynamics --
9.1 Introduction --
9.2 MSSM inverse dynamics --
9.3 SSM dynamics --
9.4 Active wrist dynamics --
9.5 Computation time --
9.6 Examples --
9.7 Exercises --
10 Design --
10.1 Introduction --
10.2 Design method --
10.3 Exercises --
11 Conclusion --
WEB adresses --
References.
Series Title: Solid mechanics and its applications, 74.
Responsibility: by Jean-Pierre Merlet.

Abstract:

Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads.  Read more...

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