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Dynamics of parallel robots

Author: Ștefan Staicu
Publisher: Cham : Springer, [2018]
Series: Parallel robots.
Edition/Format:   eBook : Document : EnglishView all editions and formats
Summary:
This book establishes recursive relations concerning kinematics and dynamics of constrained robotic systems. It uses matrix modeling to determine the connectivity conditions on the relative velocities and accelerations in order to compare two efficient energetic ways in dynamics modeling: the principle of virtual work, and the formalism of Lagrange's equations. First, a brief fundamental theory is presented on  Read more...
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Genre/Form: Electronic books
Additional Physical Format: Print version:
Staicu, Stefan.
Dynamics of parallel robots.
Cham : Springer, [2018]
(OCoLC)1045453730
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Ștefan Staicu
ISBN: 9783319995229 3319995227
OCLC Number: 1052766524
Description: 1 online resource
Contents: Intro; Preface; Contents; List of Figures; 1 Introduction; 1.1 Robotics Systems; 1.2 Historical Development; 1.3 Mechanics of Robots; References; 2 Matrix Kinematics of the Rigid Body; 2.1 Position and Orientation of the Rigid Body; 2.2 Velocity Field; 2.3 Acceleration Field; 2.4 Twist of Velocity Field of a Rigid Body; 2.5 Types of Rigid Body Motions; 2.5.1 Translation; 2.5.2 Rotation About a Fixed Axis; 2.5.3 Cylindrical Motion of a Rigid Body; 2.5.4 Spherical Motion of a Rigid Body; 2.5.5 Planar Motion of a Rigid Body; References; 3 Matrix Kinematics of Composed Motion 3.1 Kinematics of Composed Motion of a Point3.1.1 Absolute Velocity; 3.1.2 Absolute Acceleration; 3.2 Kinematics of Composed Motion of a Rigid Body; 3.2.1 Velocity Field; 3.2.2 Acceleration Field; 3.3 Applications to Kinematics Analysis of Mechanisms; 3.3.1 Universal Hooke Joint; 3.3.2 Slider-Crank Mechanism; 3.3.3 Four-Bar Mechanism; 3.3.4 Quick-Return Mechanism; References; 4 Kinetics of the Rigid Body; 4.1 Centre of Mass and Tensor of Static Moments of a Rigid Body; 4.2 Moments of Inertia of a Rigid Body; 4.2.1 Tensor of Inertia; 4.2.2 Generalized Huygens-Steiner Theorem 4.2.3 Principal Axes and Principal Moments of Inertia4.2.4 Inertia Moments of Planar Systems; 4.2.5 General Matrix of Inertia of a Rigid Body; 4.3 Kinetic Impulse of a System of Particles; 4.4 Kinetic Moment of a Rigid Body; 4.4.1 Translation; 4.4.2 Rotation About a Fixed Axis; 4.4.3 Spherical Motion of a Rigid Body; 4.4.4 General Motion of a Rigid Body; 4.4.5 Planar Motion of a Rigid Body; 4.4.6 Kinetic Wrench of the Rigid Body; 4.5 Kinetic Energy of a Rigid Body; 4.5.1 Translation; 4.5.2 Rotation About a Fixed Axis; 4.5.3 Spherical Motion of a Rigid Body 4.5.4 General Motion of a Rigid Body4.5.5 Planar Motion of the Rigid Body; 4.5.6 General Expression of Kinetic Energy of a Rigid Body; 4.6 Power and Work of the Forces Acting on a System of Particles; 4.7 Power and Work of the Forces Acting on a Rigid Body; References; 5 Dynamics of the Rigid Body; 5.1 Fundamental System of Differential Equations of Motion for a System of Particles; 5.2 Theorem of Kinetic Impulse; 5.3 Theorem of Kinetic Moment; 5.4 Theorem of Kinetic Moment with Respect to a Translating Frame; 5.5 Theorem of Kinetic Energy; 5.6 Conservation of Mechanical Energy 5.7 Theorem of Kinetic Energy with Respect to a Translating Frame5.8 Equations of Motion in Dynamics of the Rigid Body; 5.8.1 Planar Motion of a Rigid Body; 5.8.2 Spherical Motion of a Rigid Body; 5.8.3 Spherical Motion of a Rigid Body Under Its Own Weight; 5.8.4 Gyroscope; 5.8.5 Gyroscopic Moment; References; 6 Analytical Mechanics; 6.1 Principle of Virtual Work; 6.2 D'Alembert's Principle; 6.2.1 Wrench of Inertia Forces; 6.2.2 Inertia Forces Applied to a Rigid Body; 6.3 Lagrange Equations; 6.3.1 Conservative System of Forces; 6.3.2 Non-holonomic Mechanical Systems
Series Title: Parallel robots.
Responsibility: Stefan Staicu.

Abstract:

First, a brief fundamental theory is presented on matrix mechanics of the rigid body, which is then developed in the following five chapters treating matrix kinematics of the rigid body, matrix  Read more...

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