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Parallel Robots With Unconventional Joints : Kinematics and Motion Planning

Author: Patrick Grosch; F Thomas
Publisher: Cham, Switzerland : Springer Nature, [2019]
Series: Parallel robots.
Edition/Format:   eBook : Document : EnglishView all editions and formats
Summary:
This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robot's ability to bring its mobile platform to the desired configuration. The kinematics of the most  Read more...
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Genre/Form: Electronic books
Additional Physical Format: Print version:
Grosch, Patrick.
Parallel Robots With Unconventional Joints.
Cham, Switzerland : Springer Nature, [2019]
(OCoLC)1078567003
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Patrick Grosch; F Thomas
ISBN: 9783030113049 3030113043
OCLC Number: 1090539864
Description: 1 online resource
Contents: Intro; Preface; Contents; 1 Introduction: Lockable and Non-holonomic Joints; 1.1 Motivation; 1.1.1 Reconfigurable Robots with Lockable Joints; 1.1.2 Underactuated Robots with Non-holonomic Joints; 1.2 Precursors; 1.2.1 Precursors of Robots with Lockable Joints; 1.2.2 Precursors of Robots with Non-holonomic Joints; 1.3 Organization of this Book; References; 2 Parallel Robots with Lockable Revolute Joints; 2.1 Kinematics of the 4RbRunderlinePS Parallel Robot; 2.1.1 Position Analysis; 2.1.2 Singularities; 2.2 Maneuvers; 2.3 Motion Planning; 2.3.1 Generating the Road Map; 2.3.2 Finding a Path 2.4 Hardware Implementation2.5 Software Implementation; References; 3 Spherical Non-holonomic Joints; 3.1 Under-Actuated Parallel Robots with Spherical Non-holonomic Joints; 3.2 Implementation of Spherical Non-holonomic Joints; References; 4 Kinematics of the 3SnunderlinePU Spatial Robot; 4.1 The 3SnunderlinePU Robot; 4.2 Instantaneous Kinematics; 4.3 Statics Analysis; 4.4 Singularities; 4.5 Controllability; 4.6 Example; References; 5 Motion Planning for the 3SnunderlinePU Robot; 5.1 Motion Planning; 5.2 Using Truncated Series; 5.3 Example; References 6 Kinematics of the Sn-2UunderlinePS Spherical Robot6.1 Kinematic Model; 6.2 Deriving a Bilinear Model; 6.3 Singularities; 6.4 A, B, and Rotations in mathbbR4; 6.5 Workspace Computation; 6.5.1 Graphical Representation of the Platform Orientation; 6.5.2 Workspace Boundaries Due to Singularities; 6.5.3 Workspace Boundaries Due to Joint Limits; References; 7 Motion Planning for the Sn-2UunderlinePS Robot; 7.1 Kinematic Model; 7.2 Three-Move Motion Planner; 7.3 Two-Move Motion Planner; 7.4 Single-Move Motion Planner; 7.5 Example; 7.5.1 Three-Move Motion Planner; 7.5.2 Two-Move Motion Planner 7.5.3 Single-Move Motion Planner7.5.4 Comparing the Three Motion Planners; 7.6 Implementation; References; 8 Conclusions
Series Title: Parallel robots.
Responsibility: Patrick Grosch, Federico Thomas.

Abstract:

This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints.  Read more...

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