Authors:
- Fully dedicated to the dynamics of parallel robots (rigid and flexible)
- Includes mathematica codes for the computation of dynamic models of rigid and flexible parallel robots
- Includes experimental results that show that dynamic models are not only equations, but are strongly linked to reality
- Includes supplementary material: sn.pub/extras
Part of the book series: Mechanisms and Machine Science (Mechan. Machine Science, volume 35)
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Table of contents (12 chapters)
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Front Matter
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Dynamics of Rigid Parallel Robots
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Front Matter
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Dynamics of Flexible Parallel Robots
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Front Matter
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Back Matter
About this book
This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimaltrajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
Reviews
Authors and Affiliations
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Institut de Recherche en Com. et Cybernétique de Nantes, CNRS, IRCCyN, Nantes Cedex 3, France
Sébastien Briot
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U.M.R CNRS 6597, École Centrale de Nantes, IRCCyN, Nantes Cedex 3, France
Wisama Khalil
Bibliographic Information
Book Title: Dynamics of Parallel Robots
Book Subtitle: From Rigid Bodies to Flexible Elements
Authors: Sébastien Briot, Wisama Khalil
Series Title: Mechanisms and Machine Science
DOI: https://doi.org/10.1007/978-3-319-19788-3
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2015
Hardcover ISBN: 978-3-319-19787-6Published: 01 July 2015
Softcover ISBN: 978-3-319-35660-0Published: 15 October 2016
eBook ISBN: 978-3-319-19788-3Published: 22 June 2015
Series ISSN: 2211-0984
Series E-ISSN: 2211-0992
Edition Number: 1
Number of Pages: XVII, 350
Number of Illustrations: 119 b/w illustrations
Topics: Vibration, Dynamical Systems, Control, Control, Robotics, Mechatronics, Mechanical Engineering