Overview
- Introduces the use of non-holonomic and/or lockable joints in parallel robots as a new research area
- Describes and analyses new robot designs with practical interest
- Emphasises practical implementation issues
Part of the book series: Parallel Robots: Theory and Applications (PRTA)
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Table of contents (8 chapters)
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Front Matter
Keywords
About this book
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 representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations.
Reviews
“This book should be of interest to practicing and research engineers as well as Ph.D. students from the field of mechanical engineering and, in particular, from robotics.” (Clementina Mladenova, zbMATH 1447.70001, 2020)
Authors and Affiliations
Bibliographic Information
Book Title: Parallel Robots With Unconventional Joints
Book Subtitle: Kinematics and Motion Planning
Authors: Patrick Grosch, Federico Thomas
Series Title: Parallel Robots: Theory and Applications
DOI: https://doi.org/10.1007/978-3-030-11304-9
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer Nature Switzerland AG 2019
Hardcover ISBN: 978-3-030-11303-2Published: 29 March 2019
eBook ISBN: 978-3-030-11304-9Published: 20 March 2019
Series ISSN: 2524-6232
Series E-ISSN: 2524-6240
Edition Number: 1
Number of Pages: VIII, 107
Number of Illustrations: 10 b/w illustrations, 42 illustrations in colour
Topics: Machinery and Machine Elements, Control, Robotics, Mechatronics, Artificial Intelligence