Balancing of linkages and robot manipulators: advanced methods with illustrative examples
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Cham [u.a.]
Springer
2015
|
| Schriftenreihe: | Mechanisms and machine science
27 |
| Schlagworte: | |
| Online-Zugang: | BHS01 BTU01 FAB01 FAW01 FHA01 FHI01 FHN01 FHR01 FKE01 FRO01 FWS01 FWS02 UBY01 Volltext Inhaltsverzeichnis Abstract |
| Beschreibung: | 1 Online-Ressource (XVI, 291 p. 204 illus., 15 illus. in color) |
| ISBN: | 9783319124902 |
| DOI: | 10.1007/978-3-319-12490-2 |
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| adam_text | BALANCING OF LINKAGES AND ROBOT MANIPULATORS
/ ARAKELIAN, VIGEN
: 2015
TABLE OF CONTENTS / INHALTSVERZEICHNIS
PART I INTRODUCTION TO BALANCING
1 INTRODUCTION
2 AN OVERVIEW OF BALANCING METHODS
2.1 SHAKING FORCE AND SHAKING MOMENT BALANCING OF LINKAGES
2.2 SHAKING FORCE AND SHAKING MOMENT BALANCING OF ROBOTS AND
MANIPULATORS
2.3 GRAVITY BALANCING IN ROBOTICS
PART II BALANCING OF LINKAGES
3 PARTIAL SHAKING FORCE AND SHAKING MOMENT BALANCING OF LINKAGES
3.1 SHAKING MOMENT MINIMIZATION OF FULLY FORCE-BALANCED PLANAR LINKAGES
BY DISPLACING ONE COUNTERWEIGHT
3.2 SHAKING MOMENT MINIMIZATION OF FULLY FORCE-BALANCED PLANAR LINKAGES
BY DISPLACING SEVERAL COUNTERWEIGHTS
3.3 SHAKING MOMENT MINIMIZATION OF FULLY FORCE-BALANCED SPATIAL LINKAGES
3.4 AN APPROXIMATE METHOD OF CALCULATING A COUNTERWEIGHT FOR THE OPTIMUM
SHAKING FORCE AND SHAKING MOMENT BALANCING OF LINKAGES
4 COMPLETE SHAKING FORCE AND SHAKING MOMENT BALANCING OF LINKAGES
4.1 COMPLETE SHAKING FORCE AND SHAKING MOMENT BALANCING OF IN-LINE
FOUR-BAR LINKAGES BY ADDING A CLASS-TWO RRR OR RRP ASSUR GROUP
4.2 COMPLETE SHAKING FORCE AND SHAKING MOMENT BALANCING OF PLANAR
LINKAGES BY ADDING THE ARTICULATED DYADS
4.3 COMPLETE SHAKING FORCE AND SHAKING MOMENT BALANCING OF RSS’R
SPATIAL LINKAGES
4.4 DESIGN OF SELF-BALANCED MECHANICAL SYSTEMS
5 BALANCING OF SLIDER-CRANK MECHANISMS
5.1 GENERALIZED LANCHESTER BALANCER
5.2 BALANCING VIA THE PROPERTIES OF THE WATT GEAR-SLIDER MECHANISM
5.3 SHAKING MOMENT CANCELLATION OF SELF-BALANCED SLIDER-CRANK MECHANICAL
SYSTEMS BY MEANS OF OPTIMUM MASS REDISTRIBUTION
5.4 SIMULTANEOUS INERTIA FORCE/MOMENT BALANCING AND TORQUE COMPENSATION
OF SLIDER-CRANK MECHANISMS
5.5 SHAKING FORCE AND SHAKING MOMENT BALANCING OF SLIDER-CRANK
MECHANISMS VIA OPTIMAL GENERATION OF THE INPUT CRANK ROTATION
PART III BALANCING OF ROBOT MANIPULATORS
6 BALANCING OF MANIPULATORS BY USING THE COPYING PROPERTIES OF
PANTOGRAPH MECHANISMS
6.1 DESIGN OF BALANCING MECHANISMS FOR SPATIAL PARALLEL MANIPULATORS:
APPLICATION TO THE DELTA ROBOT
6.2 DESIGN OF SELF-BALANCED PARALLEL MANIPULATORS: PAMINSA WITH FOUR DOF
6.3 DESIGN AND BALANCING OF HAND-OPERATED MANIPULATORS
7 SHAKING FORCE AND SHAKING MOMENT BALANCING OF ROBOT MANIPULATORS
7.1 COMPLETE SHAKING FORCE AND SHAKING MOMENT BALANCING OF 3-DOF 3-RRR
PARALLEL MANIPULATORS
7.2 COMPLETE SHAKING FORCE AND SHAKING MOMENT BALANCING OF PLANAR
PARALLEL MANIPULATORS WITH PRISMATIC PAIRS
7.3 SHAKING FORCE MINIMIZATION OF HIGH-SPEED ROBOTS VIA CENTRE OF MASS
ACCELERATION CONTROL
7.4 BALANCING OF ROBOT MANIPULATORS VIA OPTIMAL MOTION CONTROL
8 GRAVITATIONAL FORCE BALANCING OF ROBOTIC SYSTEMS
8.1 BALANCING OF PANTOGRAPH MECHANISMS
8.2 OPTIMAL BALANCING OF THE PARALLEL ROBOT FOR MEDICAL 3D-ULTRASOUND
IMAGINING
8.3 IMPROVEMENT OF BALANCING ACCURACY OF ROBOT-MANIPULATORS TAKING INTO
ACCOUNT THE SPRING MASS
8.4 OPTIMAL BALANCING OF SERIAL MANIPULATORS WITH DECOUPLED DYNAMICS
REFERENCES
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
BALANCING OF LINKAGES AND ROBOT MANIPULATORS
/ ARAKELIAN, VIGEN
: 2015
ABSTRACT / INHALTSTEXT
IN THIS BOOK ADVANCED BALANCING METHODS FOR PLANAR AND SPATIAL LINKAGES,
HAND OPERATED AND AUTOMATIC ROBOT MANIPULATORS ARE PRESENTED. IT IS
ORGANIZED INTO THREE MAIN PARTS AND EIGHT CHAPTERS. THE MAIN PARTS ARE
THE INTRODUCTION TO BALANCING, THE BALANCING OF LINKAGES AND THE
BALANCING OF ROBOT MANIPULATORS. THE REVIEW OF STATE-OF-THE-ART
LITERATURE INCLUDING MORE THAN 500 REFERENCES DISCLOSES PARTICULARITIES
OF SHAKING FORCE/MOMENT BALANCING AND GRAVITY COMPENSATION METHODS. THEN
NEW METHODS FOR BALANCING OF LINKAGES ARE CONSIDERED. METHODS PROVIDED
IN THE SECOND PART OF THE BOOK DEAL WITH THE PARTIAL AND COMPLETE
SHAKING FORCE/MOMENT BALANCING OF VARIOUS LINKAGES. A NEW FIELD FOR
BALANCING METHODS APPLICATIONS IS THE DESIGN OF MECHANICAL SYSTEMS FOR
FAST MANIPULATION. SPECIAL ATTENTION IS GIVEN TO THE SHAKING
FORCE/MOMENT BALANCING OF ROBOT MANIPULATORS. GRAVITY BALANCING METHODS
ARE ALSO DISCUSSED. THE SUGGESTED BALANCING METHODS ARE ILLUSTRATED BY
NUMEROUS EXAMPLES
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
|
| any_adam_object | 1 |
| author | Arakelian, Vigen |
| author_facet | Arakelian, Vigen |
| author_role | aut |
| author_sort | Arakelian, Vigen |
| author_variant | v a va |
| building | Verbundindex |
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| dewey-full | 621.8 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 621 - Applied physics |
| dewey-raw | 621.8 |
| dewey-search | 621.8 |
| dewey-sort | 3621.8 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen |
| doi_str_mv | 10.1007/978-3-319-12490-2 |
| format | Electronic eBook |
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| id | DE-604.BV042325996 |
| illustrated | Not Illustrated |
| indexdate | 2024-08-01T12:05:28Z |
| institution | BVB |
| isbn | 9783319124902 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-027762832 |
| oclc_num | 902891608 |
| open_access_boolean | |
| owner | DE-1046 DE-1043 DE-Aug4 DE-898 DE-BY-UBR DE-573 DE-859 DE-863 DE-BY-FWS DE-634 DE-92 DE-862 DE-BY-FWS DE-B768 DE-861 DE-706 |
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| physical | 1 Online-Ressource (XVI, 291 p. 204 illus., 15 illus. in color) |
| psigel | ZDB-2-ENG ZDB-2-ENG_2015 |
| publishDate | 2015 |
| publishDateSearch | 2015 |
| publishDateSort | 2015 |
| publisher | Springer |
| record_format | marc |
| series | Mechanisms and machine science |
| series2 | Mechanisms and machine science |
| spellingShingle | Arakelian, Vigen Balancing of linkages and robot manipulators advanced methods with illustrative examples Mechanisms and machine science Engineering Vibration Machinery and Machine Elements Control, Robotics, Mechatronics Vibration, Dynamical Systems, Control Ingenieurwissenschaften |
| title | Balancing of linkages and robot manipulators advanced methods with illustrative examples |
| title_auth | Balancing of linkages and robot manipulators advanced methods with illustrative examples |
| title_exact_search | Balancing of linkages and robot manipulators advanced methods with illustrative examples |
| title_full | Balancing of linkages and robot manipulators advanced methods with illustrative examples Vigen Arakelian ; Sébastien Briot |
| title_fullStr | Balancing of linkages and robot manipulators advanced methods with illustrative examples Vigen Arakelian ; Sébastien Briot |
| title_full_unstemmed | Balancing of linkages and robot manipulators advanced methods with illustrative examples Vigen Arakelian ; Sébastien Briot |
| title_short | Balancing of linkages and robot manipulators |
| title_sort | balancing of linkages and robot manipulators advanced methods with illustrative examples |
| title_sub | advanced methods with illustrative examples |
| topic | Engineering Vibration Machinery and Machine Elements Control, Robotics, Mechatronics Vibration, Dynamical Systems, Control Ingenieurwissenschaften |
| topic_facet | Engineering Vibration Machinery and Machine Elements Control, Robotics, Mechatronics Vibration, Dynamical Systems, Control Ingenieurwissenschaften |
| url | https://doi.org/10.1007/978-3-319-12490-2 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027762832&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027762832&sequence=000003&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV040685728 |
| work_keys_str_mv | AT arakelianvigen balancingoflinkagesandrobotmanipulatorsadvancedmethodswithillustrativeexamples AT briotsebastien balancingoflinkagesandrobotmanipulatorsadvancedmethodswithillustrativeexamples |