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Mechanisms and Machine Science

Dynamics of Parallel Robots

From Rigid Bodies to Flexible Elements

Authors: Briot, Sébastien, Khalil, Wisama

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  • 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
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eBook $99.00
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  • ISBN 978-3-319-19788-3
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Hardcover $169.99
price for USA in USD
  • ISBN 978-3-319-19787-6
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  • Usually ready to be dispatched within 3 to 5 business days, if in stock
Softcover $129.99
price for USA in USD
  • Customers within the U.S. and Canada please contact Customer Service at +1-800-777-4643, Latin America please contact us at +1-212-460-1500 (24 hours a day, 7 days a week). Pre-ordered printed titles are excluded from promotions.
  • Due: November 4, 2016
  • ISBN 978-3-319-35660-0
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions
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 optimal trajectory 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

“The present book, based on results published by many authors as well as by the two authors of the book over the last fifteen years, treats some special problems on the dynamics of parallel robots from rigid bodies to flexible elements … . the intended audience for it consists of researchers, scientists and engineers, as well as master and PhD students interested in the theory and applications of parallel robots.” (Clementina Mladenova, zbMATH 1369.68001, 2017)


Table of contents (12 chapters)

Table of contents (12 chapters)

Buy this book

eBook $99.00
price for USA in USD
  • ISBN 978-3-319-19788-3
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $169.99
price for USA in USD
  • ISBN 978-3-319-19787-6
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions
  • Usually ready to be dispatched within 3 to 5 business days, if in stock
Softcover $129.99
price for USA in USD
  • Customers within the U.S. and Canada please contact Customer Service at +1-800-777-4643, Latin America please contact us at +1-212-460-1500 (24 hours a day, 7 days a week). Pre-ordered printed titles are excluded from promotions.
  • Due: November 4, 2016
  • ISBN 978-3-319-35660-0
  • Free shipping for individuals worldwide
  • Institutional customers should get in touch with their account manager
  • Covid-19 shipping restrictions
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Bibliographic Information

Bibliographic Information
Book Title
Dynamics of Parallel Robots
Book Subtitle
From Rigid Bodies to Flexible Elements
Authors
Series Title
Mechanisms and Machine Science
Series Volume
35
Copyright
2015
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing Switzerland
eBook ISBN
978-3-319-19788-3
DOI
10.1007/978-3-319-19788-3
Hardcover ISBN
978-3-319-19787-6
Softcover ISBN
978-3-319-35660-0
Series ISSN
2211-0984
Edition Number
1
Number of Pages
XVII, 350
Number of Illustrations
119 b/w illustrations
Topics