Parallel Robots

Parallel Robots by J.-P. Merlet.

Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the...

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Bibliographic Details
Main Author: Merlet, J.-P (Author)
Corporate Author: SpringerLink (Online service)
Format: eBook
Language:English
Published: Dordrecht : Springer Netherlands : Imprint: Springer, 2000.
Edition:1st ed. 2000.
Series:Solid Mechanics and Its Applications, 74
Springer eBook Collection.
Subjects:
Mechanical engineering.
Control engineering.
Robotics.
Mechatronics.
Engineering design.
Algebraic geometry.
Computer science—Mathematics.
Electronic resources (E-books)
Online Access:Click to view e-book
Holy Cross Note:Loaded electronically.
Electronic access restricted to members of the Holy Cross Community.
Table of Contents:
  • 1 Introduction
  • 1.1 Characteristics of classical robots
  • 1.2 Other types of architecture
  • 1.3 Needs for robotics
  • 1.4 Parallel robots: definition
  • 1.5 Contents
  • 1.6 Exercises
  • 2 Architectures
  • 2.1 Introduction
  • 2.2 Planar robots
  • 2.3 Spatial motion robots
  • 2.4 Articulated truss
  • 2.5 Examples of applications
  • 2.6 Notion of standard manipulators
  • 2.7 Exercises
  • 3 Jacobian and inverse kinematics
  • 3.1 Inverse kinematics
  • 3.2 Inverse jacobian matrix
  • 3.3 Jacobian matrix
  • 3.4 Jacobian matrix and internal sensors
  • 3.5 Calibration
  • 3.6 Exercises
  • 4 Direct kinematics
  • 4.1 Planar mechanism
  • 4.2 Mechanisms for translations in space
  • 4.3 Spherical mechanisms
  • 4.4 6 degrees of freedom mechanisms
  • 4.5 Nair systematic method
  • 4.6 Case of the general robot
  • 4.7 Summary of results and conclusion
  • 4.8 Fast numerical methods
  • 4.9 Direct kinematics with extra sensors
  • 4.10 Conclusions
  • 4.11 Exercises
  • 5 Singular configurations
  • 5.1 Introduction
  • 5.2 State of the art
  • 5.3 Grassmann geometry
  • 5.4 Degrees of freedom associated with singularities
  • 5.5 Manipulability and condition number
  • 5.6 Practical search for singularities
  • 5.7 Mechanisms in permanent singularity
  • 5.8 Singularity-free path-planning
  • 5.9 Exercises
  • 6 Workspace
  • 6.1 Workspace limits and representation
  • 6.2 Calculation of the constant orientation workspace
  • 6.3 Planar manipulator
  • 6.4 6 dof manipulators
  • 6.5 Trajectory checking
  • 6.6 Path-planning
  • 6.7 Exercises
  • 7 Velocity and Acceleration
  • 7.1 Relations between the articular velocities and the generalized velocities
  • 7.2 Extrema of the generalized velocities
  • 7.3 Extrema of the articular velocities in a translation workspace
  • 7.4 Accelerations
  • 7.5 Conclusion
  • 7.6 Exercises
  • 8 Static analysis
  • 8.1 Relations between generalized and articular forces
  • 8.2 Articular forces and maximal generalized forces
  • 8.3 Parallel robots as force sensors
  • 8.4 Stiffness and compliance
  • 8.5 Extrema of the stiffnesses in a workspace
  • 8.6 Balancing
  • 8.7 Exercises
  • 9 Dynamics
  • 9.1 Introduction
  • 9.2 MSSM inverse dynamics
  • 9.3 SSM dynamics
  • 9.4 Active wrist dynamics
  • 9.5 Computation time
  • 9.6 Examples
  • 9.7 Exercises
  • 10 Design
  • 10.1 Introduction
  • 10.2 Design method
  • 10.3 Exercises
  • 11 Conclusion
  • WEB adresses
  • References.

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