Kinematic Analysis Of Parallel Manipulators By Algebraic Screw Theory

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Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

Jaime Gallardo-Alvarado
Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory Book PDF

Author : Jaime Gallardo-Alvarado
Publisher : Springer
Page : 377 pages
File Size : 40,9 Mb
Release : 2016-06-16
Category : Technology & Engineering
ISBN : 9783319311265

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Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory by Jaime Gallardo-Alvarado Pdf

This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.

Mechanisms

Jaime Gallardo-Alvarado,José Gallardo-Razo
Mechanisms Book PDF

Author : Jaime Gallardo-Alvarado,José Gallardo-Razo
Publisher : Academic Press
Page : 532 pages
File Size : 43,5 Mb
Release : 2022-06-18
Category : Technology & Engineering
ISBN : 9780323953474

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Mechanisms by Jaime Gallardo-Alvarado,José Gallardo-Razo Pdf

Theory of mechanisms is an applied science of mechanics that studies the relationship between geometry, mobility, topology, and relative motion between rigid bodies connected by geometric forms. Recently, knowledge in kinematics and mechanisms has considerably increased, causing a renovation in the methods of kinematic analysis. With the progress of the algebras of kinematics and the mathematical methods used in the optimal solution of polynomial equations, it has become possible to formulate and elegantly solve problems. Mechanisms: Kinematic Analysis and Applications in Robotics provides an updated approach to kinematic analysis methods and a review of the mobility criteria most used in planar and spatial mechanisms. Applications in the kinematic analysis of robot manipulators complement the material presented in the book, growing in importance when one recognizes that kinematics is a basic area in the control and modeling of robot manipulators. Presents an organized review of general mathematical methods and classical concepts of the theory of mechanisms Introduces methods approaching time derivatives of arbitrary vectors employing general approaches based on the vector angular velocity concept introduced by Kane and Levinson Proposes a strategic approach not only in acceleration analysis but also to jerk analysis in an easy to understand and systematic way Explains kinematic analysis of serial and parallel manipulators by means of the theory of screws

Theory of Parallel Mechanisms

Zhen Huang,Qinchuan Li,Huafeng Ding
Theory of Parallel Mechanisms Book PDF

Author : Zhen Huang,Qinchuan Li,Huafeng Ding
Publisher : Springer Science & Business Media
Page : 430 pages
File Size : 49,9 Mb
Release : 2012-07-26
Category : Technology & Engineering
ISBN : 9789400742017

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Theory of Parallel Mechanisms by Zhen Huang,Qinchuan Li,Huafeng Ding Pdf

This book contains mechanism analysis and synthesis. In mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validity was only proved recently, is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its latest developments are described. This principle is suitable for kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularity is stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented. In mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, is introduced in detail. Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed.

Advances in Robot Kinematics: Analysis and Control

Jadran Lenarčič,Manfred L. Husty
Advances in Robot Kinematics Analysis and Control Book PDF

Author : Jadran Lenarčič,Manfred L. Husty
Publisher : Springer Science & Business Media
Page : 578 pages
File Size : 40,9 Mb
Release : 2013-04-17
Category : Technology & Engineering
ISBN : 9789401590648

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Advances in Robot Kinematics: Analysis and Control by Jadran Lenarčič,Manfred L. Husty Pdf

The contributions in this book were presented at the sixth international symposium on Advances in Robot Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever since its first event, ARK has attracted the most outstanding authors in the area and managed to create a perfect combination of professionalism and friendly athmosphere. We are glad to observe that, in spite of a strong competition of many international conferences and meetings, ARK is continuing to grow in terms of the number of participants and in terms of its scientific impact. In its ten years, ARK has contributed to develop a remarkable scientific community in the area of robot kinematics. The last four symposia were organised under the patronage of the International Federation for the Theory of Machines and Mechanisms -IFToMM. interest to researchers, doctoral students and teachers, The book is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots. It is divided into sections that were found as the prevalent areas of the contemporary kinematics research. As it can easily be noticed, an important part of the book is dedicated to various aspects of the kinematics of parallel mechanisms that persist to be one of the most attractive areas of research in robot kinematics.

Advances in Robot Kinematics: Analysis and Design

Jadran Lenarčič,Philippe Wenger
Advances in Robot Kinematics Analysis and Design Book PDF

Author : Jadran Lenarčič,Philippe Wenger
Publisher : Springer Science & Business Media
Page : 472 pages
File Size : 40,7 Mb
Release : 2008-05-29
Category : Technology & Engineering
ISBN : 9781402086007

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Advances in Robot Kinematics: Analysis and Design by Jadran Lenarčič,Philippe Wenger Pdf

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.

Screw Theory and Its Application to Spatial Robot Manipulators

Carl D. Crane, III,Michael Griffis,Joseph Duffy
Screw Theory and Its Application to Spatial Robot Manipulators Book PDF

Author : Carl D. Crane, III,Michael Griffis,Joseph Duffy
Publisher : Cambridge University Press
Page : 224 pages
File Size : 55,9 Mb
Release : 2022-08-31
Category : Technology & Engineering
ISBN : 9781009301763

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Screw Theory and Its Application to Spatial Robot Manipulators by Carl D. Crane, III,Michael Griffis,Joseph Duffy Pdf

Discover a fresh take on classical screw theory and understand the geometry embedded within robots and mechanisms with this essential text. The book begins with a geometrical study of points, lines, and planes and slowly takes the reader toward a mastery of screw theory with some cutting-edge results, all while using only basic linear algebra and ordinary vectors. It features a discussion of the geometry of parallel and serial robot manipulators, in addition to the reciprocity of screws and a singularity study. All 41 essential screw systems are unveiled, establishing the possible freedom twists and constraint wrenches for a kinematic joint. Familiarizing the reader with screw geometry in order to study the statics and kinematics of robots and mechanisms, this is a perfect resource for engineers and graduate students.

Parallel Robots

J.P. Merlet
Parallel Robots Book PDF

Author : J.P. Merlet
Publisher : Springer Science & Business Media
Page : 432 pages
File Size : 52,7 Mb
Release : 2005-12-27
Category : Technology & Engineering
ISBN : 1402041322

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Parallel Robots by J.P. Merlet Pdf

Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, velocity, rigidity and ability to manipulate large loads. They 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 mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 150 exercises and numerous internet addresses), researchers (with over 650 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results, mistakes to avoid, and applications are presented). Since the publication of the first edition (2000) there has been an impressive increase in terms of study and use of this kind of structure that are reported in this book. This second edition has been completely overhauled. The initial chapter on kinematics has been split into Inverse Kinematics and Direct Kinematics. A new chapter on calibration was added. The other chapters have also been rewritten to a large extent. The reference section has been updated to include around 45% new works that appeared after the first edition.

Advances in Robot Kinematics

Jadran Lenarčič,Oussama Khatib
Advances in Robot Kinematics Book PDF

Author : Jadran Lenarčič,Oussama Khatib
Publisher : Springer
Page : 561 pages
File Size : 45,5 Mb
Release : 2014-05-19
Category : Technology & Engineering
ISBN : 9783319066981

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Advances in Robot Kinematics by Jadran Lenarčič,Oussama Khatib Pdf

The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

Recent Advances in Robot Kinematics

Jadran Lenarčič,Vincenzo Parenti Castelli
Recent Advances in Robot Kinematics Book PDF

Author : Jadran Lenarčič,Vincenzo Parenti Castelli
Publisher : Springer Science & Business Media
Page : 457 pages
File Size : 48,6 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9789400917187

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Recent Advances in Robot Kinematics by Jadran Lenarčič,Vincenzo Parenti Castelli Pdf

The articles of this book were reported and discussed at the fifth international symposium on Advances in Robot Kinematics. As is known, the first symposium of this series was organised in 1988 in Ljubljana. The following meetings took place every other year in Austria, Italy, and Slovenia (Linz, Ferrara, Ljubljana, Portoroz Bernardin). It must be emphasised that the symposia run under the patronage of the International Federation for the Theory of Machinesand Mechanisms, IFToMM. In this period, Advances in Robot Kinematics has been able to attract the most outstanding authors in the area and also to create an optimum combination of a scientific pragmatism and a friendly atmosphere. Hence, it has managed to survive in a strong competition of many international conferences and meetings. In the most ancient way, robot kinematics is regarded as an application of the kinematics of rigid hodies. However, there are topics and problems that are typical for robot kinematics that cannot easily be found in any other scientific field. It is our belief that the initiative of Advances in Robot Kinematics has contributed to develop a remarkable scientific community. The present book is of interest to researchers, doctoral students and teachers, engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots.

Computational Kinematics

Andrés Kecskeméthy,Andreas Müller
Computational Kinematics Book PDF

Author : Andrés Kecskeméthy,Andreas Müller
Publisher : Springer Science & Business Media
Page : 394 pages
File Size : 46,6 Mb
Release : 2009-10-06
Category : Technology & Engineering
ISBN : 9783642019470

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Computational Kinematics by Andrés Kecskeméthy,Andreas Müller Pdf

Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The present book collects up-to-date methods as presented during the Fifth International Workshop on Computational Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, balancing and construction of novel mechanical devices, detection and treatment of singularities, as well as computational methods for gear design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.

Advances in Robot Kinematics

Jadran Lenarčič,Federico Thomas
Advances in Robot Kinematics Book PDF

Author : Jadran Lenarčič,Federico Thomas
Publisher : Springer Science & Business Media
Page : 558 pages
File Size : 41,9 Mb
Release : 2002-06-30
Category : Computers
ISBN : 1402006969

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Advances in Robot Kinematics by Jadran Lenarčič,Federico Thomas Pdf

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.

Robots and Screw Theory

J. K. Davidson,K. H. Hunt
Robots and Screw Theory Book PDF

Author : J. K. Davidson,K. H. Hunt
Publisher : Oxford University Press
Page : 477 pages
File Size : 42,6 Mb
Release : 2004-03-25
Category : Technology & Engineering
ISBN : 9780192516282

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Robots and Screw Theory by J. K. Davidson,K. H. Hunt Pdf

Robots and Screw Theory describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed in the book are used in the control of robots and in the design of their major moving parts. The illustrative examples and the exercises in the book are taken principally from robotic machinery used for manufacturing and construction, but the principles apply equally well to miniature robotic devices and to those used in other industries. The comprehensive coverage of the screw and its geometry lead to reciprocal screw systems for statics and instantaneous kinematics. These screw systems are brought together in a unique way to show many cross-relationships between the force-systems that support a body equivalently to a kinematic serial connection of joints and links. No prior knowledge of screw theory is assumed. The reader is introduced to the screw with a simple planar example yet most of the book applies to robots that move three-dimensionally. Consequently, the book is suitable both as a text at the graduate-course level and as a reference book for the professional. Worked examples on every major topic and over 300 exercises clarify and reinforce the principles covered in the text. A chapter-length list of references gives the reader source-material and opportunities to pursue more fully topics contained in the text.

Advances in Robot Kinematics 2020

Jadran Lenarčič,Bruno Siciliano
Advances in Robot Kinematics 2020 Book PDF

Author : Jadran Lenarčič,Bruno Siciliano
Publisher : Springer Nature
Page : 375 pages
File Size : 47,7 Mb
Release : 2020-07-17
Category : Technology & Engineering
ISBN : 9783030509750

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Advances in Robot Kinematics 2020 by Jadran Lenarčič,Bruno Siciliano Pdf

This book is 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. The papers cover the full range of robotic systems, including serial, parallel and cable-driven manipulators. The systems range from being less than fully mobile, to kinematically redundant, to over-constrained. The book brings together 43 peer-reviewed papers. They report on the latest scientific and applied achievements. The main theme that connects them is the movement of robots in the most diverse areas of application.

Singular Configurations of Mechanisms and Manipulators

Andreas Müller,Dimiter Zlatanov
Singular Configurations of Mechanisms and Manipulators Book PDF

Author : Andreas Müller,Dimiter Zlatanov
Publisher : Springer
Page : 229 pages
File Size : 41,6 Mb
Release : 2019-02-19
Category : Technology & Engineering
ISBN : 9783030052195

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Singular Configurations of Mechanisms and Manipulators by Andreas Müller,Dimiter Zlatanov Pdf

The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots.

Parallel Kinematics

Xin-Jun Liu,Jinsong Wang
Parallel Kinematics Book PDF

Author : Xin-Jun Liu,Jinsong Wang
Publisher : Springer Science & Business Media
Page : 314 pages
File Size : 43,7 Mb
Release : 2013-08-15
Category : Technology & Engineering
ISBN : 9783642369292

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Parallel Kinematics by Xin-Jun Liu,Jinsong Wang Pdf

Parallel Kinematics- Type, Kinematics, and Optimal Design presents the results of 15 year's research on parallel mechanisms and parallel kinematics machines. This book covers the systematic classification of parallel mechanisms (PMs) as well as providing a large number of mechanical architectures of PMs available for use in practical applications. It focuses on the kinematic design of parallel robots. One successful application of parallel mechanisms in the field of machine tools, which is also called parallel kinematics machines, has been the emerging trend in advanced machine tools. The book describes not only the main aspects and important topics in parallel kinematics, but also references novel concepts and approaches, i.e. type synthesis based on evolution, performance evaluation and optimization based on screw theory, singularity model taking into account motion and force transmissibility, and others. This book is intended for researchers, scientists, engineers and postgraduates or above with interests in robotics and advanced machine tools technology such as parallel kinematics machines (PKMs). Xinjun Liu and Jinsong Wang, professors, work at The Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University.