Parallel PnP Robots

1. Front Matter

   Pages i-xvii

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2. Introduction

   • Guanglei Wu, Huiping Shen

   Pages 1-15

3. Kinematic Geometry of the PnP Robots

   • Guanglei Wu, Huiping Shen

   Pages 17-56

4. Differential Kinematics of the Robots

   • Guanglei Wu, Huiping Shen

   Pages 57-85

5. Kinematic Performance Criteria

   • Guanglei Wu, Huiping Shen

   Pages 87-120

6. Elastostatics and Stiffness

   • Guanglei Wu, Huiping Shen

   Pages 121-148

7. Rigid Multibody Dynamics

   • Guanglei Wu, Huiping Shen

   Pages 149-170

8. Robot Elastodynamics

   • Guanglei Wu, Huiping Shen

   Pages 171-190

9. Design Optimization of Parallel PnP Robots

   • Guanglei Wu, Huiping Shen

   Pages 191-220

10. Back Matter

    Pages 221-251

    PDF

This book discusses the parametric modeling, performance evaluation, design optimization and comparative study of the high-speed, parallel pick-and-place robots. It collects the modeling methodology, evaluation criteria and design guidelines for parallel PnP robots to provide a systematic analysis method for robotic developers. Furthermore, it gathers the research results previously scattered in many prestigious international journals and conference proceedings and methodically edits them and presents them in a unified form. The book is of interest to researchers, R&D engineers and graduate students in industrial parallel robotics who wish to learn the core principles, methods, algorithms, and applications.

• Parallel robots
• Motion/force transmission
• Design optimization
• Parallel PnP Robots
• Geometric kinematics
• Differential kinematics
• Velocity and acceleration analysis
• Elasto statics of robot
• Stiffness matrix
• Stiffness indices
• Payload capability
• Robot dynamics
• Rigid dynamics
• Flexible dynamics
• parallel pick-and-place robots

• School of Mechanical Engineering, Dalian University of Technology, Dalian, China

  Guanglei Wu

• Mechanical Engineering, Changzhou University, Changzhou, China

  Huiping Shen

Dr. Guanglei Wu received his PhD in mechanical engineering from Aalborg University, Denmark, 2013. He was granted an industrial project by Innovation Fund Denmark and worked as a postdoc fellow in Aalborg University from 2014 to 2016. He was a visiting scholar in the Research Institute in Communications and Cybernetics of Nantes (IRCCyN, the former LS2N) in 2012. Currently, he is an associate professor  in Dalian University of Technology. His research interests include conceptual design of robots, performance evaluation of parallel mechanisms, design optimization and industrial robots. He is the referee of a number of international journals and conferences in the fields of mechanisms and robots. 

Dr. Huiping Shen, born in 1965, is professor and a doctoral tutor. He received the Bachelor degree in Jiangxi University of Science and Technology in 1984, the Master degree in Southeast University in 1989 and the Doctoral degree in Jiangsu University in 2006, respectively. He has been working for Changzhou University since 1989, and was appointed as associate professor, professor and doctoral tutor in 1995, 2001, and 2010 respectively. He was awarded Special Allowance from the central government of P. R. China as an Excellent Expert in 2001. He completed sixteen projects founded by Natural Science Foundation of Jiangsu province and 35 projects supported by companies in P. R. China. Dr. Shen and his team members published about 260 research papers and he holds 70 patents of novel robot mechanisms. 

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