Dynamics of parallel robots: from rigid bodies to flexible elements
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Electronic eBook |
| Language: | English |
| Published: |
Cham [u.a.]
Springer
2015
|
| Series: | Mechanisms and machine science
volume 35 |
| Subjects: | |
| Online Access: | TUM01 Volltext Inhaltsverzeichnis Abstract |
| Physical Description: | XVII, 350 p. 119 illus |
| ISBN: | 9783319197883 9783319197876 |
| DOI: | 10.1007/978-3-319-19788-3 |
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| 245 | 1 | 0 | |a Dynamics of parallel robots |b from rigid bodies to flexible elements |c Sébastien Briot ; Wisama Khalil |
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Record in the Search Index
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| adam_text | DYNAMICS OF PARALLEL ROBOTS
/ BRIOT, SEBASTIEN
: 2015
TABLE OF CONTENTS / INHALTSVERZEICHNIS
PART I PREREQUISITES
1 GENERALITIES ON PARALLEL ROBOTS
1.1 INTRODUCTION
1.2 GENERAL DEFINITIONS
1.3 TYPES OF PKM ARCHITECTURES
1.4 WHY A BOOK DEDICATED TO THE DYNAMICS OF PARALLEL ROBOTS?
2 HOMOGENEOUS TRANSFORMATION MATRIX
2.1 HOMOGENEOUS COORDINATES AND HOMOGENEOUS TRANSFORMATION MATRIX
2.2 ELEMENTARY TRANSFORMATION MATRICES
2.3 PROPERTIES OF HOMOGENEOUS TRANSFORMATION MATRICES
2.4 PARAMETERIZATION OF THE GENERAL MATRICES OF ROTATION
3 REPRESENTATION OF VELOCITIES AND FORCES / ACCELERATION OF A BODY
3.1 DEFINITION OF A SCREW
3.2 KINEMATIC SCREW (OR TWIST)
3.3 REPRESENTATION OF FORCES AND MOMENTS (WRENCH)
3.4 CONDITION OF RECIPROCITY
3.5 TRANSFORMATION MATRIX BETWEEN TWISTS
3.6 TRANSFORMATION MATRIX BETWEEN WRENCHES
3.7 ACCELERATION OF A BODY
4 KINEMATIC PARAMETERIZING OF MULTIBODY SYSTEMS
4.1 KINEMATIC PAIRS AND JOINT VARIABLES
4.2 MODIFIED DENAVIT-HARTENBERG PARAMETERS
5 GEOMETRIC, VELOCITY AND ACCELERATION ANALYSIS OF OPEN KINEMATIC CHAINS
5.1 GEOMETRIC ANALYSIS OF OPEN KINEMATIC CHAINS
5.2 VELOCITY ANALYSIS OF OPEN KINEMATIC CHAINS
5.3 ACCELERATION ANALYSIS OF OPEN KINEMATIC CHAINS
6 DYNAMICS PRINCIPLES
6.1 THE LAGRANGE FORMULATION
6.2 THE NEWTON-EULER EQUATIONS
6.3 THE PRINCIPLE OF VIRTUAL POWERS
6.4 COMPUTATION OF ACTUATOR INPUT EFFORTS UNDER A WRENCH EXERTED ON THE
END-EFFECTOR
PART II DYNAMICS OF RIGID PARALLEL ROBOTS
7 KINEMATICS OF PARALLEL ROBOTS
7.1 INVERSE GEOMETRIC MODEL
7.2 FORWARD GEOMETRIC MODEL
7.3 VELOCITY ANALYSIS
7.4 ACCELERATION ANALYSIS
7.5 SINGULARITY ANALYSIS
8 DYNAMIC MODELING OF PARALLEL ROBOTS
8.1 INTRODUCTION
8.2 DYNAMICS OF TREE-STRUCTURE ROBOTS
8.3 DYNAMIC MODEL OF THE FREE MOVING PLATFORM
8.4 INVERSE AND DIRECT DYNAMIC MODELS OF NON-REDUNDANT PARALLEL ROBOTS
8.5 INVERSE AND DIRECT DYNAMIC MODELS OF PARALLEL ROBOTS WITH ACTUATION
REDUNDANCY
8.6 OTHER MODELS
8.7 COMPUTATION OF THE BASE DYNAMIC PARAMETERS
9 ANALYSIS OF THE DEGENERACY CONDITIONS FOR THE DYNAMIC MODEL OF
PARALLEL ROBOTS
9.1 INTRODUCTION
9.2 ANALYSIS OF THE DEGENERACY CONDITIONS OF THE IDM OF PKM
9.3 AVOIDING INFINITE INPUT EFFORTS WHILE CROSSING TYPE 2 OR LPJTS
SINGULARITIES THANKS TO AN OPTIMAL TRAJECTORY PLANNING
9.4 EXAMPLE 1: THE FIVE-BAR MECHANISM CROSSING A TYPE 2 SINGULARITY
9.5 EXAMPLE 2: THE TRIPTERION CROSSING A LPJTS SINGULARITY
9.6 DISCUSSION
PART III DYNAMICS OF FLEXIBLE PARALLEL ROBOTS
10 ELASTODYNAMIC MODELING OF PARALLEL ROBOTS
10.1 INTRODUCTION
10.2 GENERALIZED NEWTON-EULER EQUATIONS OF A FLEXIBLE LINK
10.2.3 MATRIX FORM OF THE GENERALIZED NEWTON-EULER MODEL FOR A FLEXIBLE
CLAMPED-FREE BODY
10.3 DYNAMIC MODEL OF VIRTUAL FLEXIBLE SYSTEMS
10.4 DYNAMIC MODEL OF A FLEXIBLE PARALLEL ROBOT
10.5 INCLUDING THE ACTUATOR ELASTICITY
10.6 PRACTICAL IMPLEMENTATION OF THE ALGORITHM
10.7 CASE STUDY: THE DUALEMPS
11 COMPUTATION OF NATURAL FREQUENCIES
11.1 INTRODUCTION
11.2 STIFFNESS AND INERTIA MATRICES OF THE VIRTUAL SYSTEM
11.3 STIFFNESS AND INERTIA MATRICES OF THE PKM
11.4 INCLUDING THE ACTUATOR ELASTICITY
11.5 PRACTICAL IMPLEMENTATION OF THE ALGORITHM
11.6 CASE STUDIES
11.7 CONCLUSION
APPENDICES
A CALCULATION OF THE NUMBER OF DEGREES OF FREEDOM OF ROBOTS WITH CLOSED
CHAINS
A.1 INTRODUCTION
A.2 MOROSKINE’S METHOD
A.3 GOGU’S METHOD
A.4 EXAMPLES
B LAGRANGE EQUATIONS WITH MULTIPLIERS
C COMPUTATION OF WRENCHES RECIPROCAL TO A SYSTEM OF TWISTS
C.1 DEFINITIONS
C.2 CONDITION OF RECIPROCITY
C.3 COMPUTATION OF WRENCHES RECIPROCAL TO A SYSTEM OF TWISTS CONSTRAINED
IN A PLANE
C.4 COMPUTATION OF WRENCHES RECIPROCAL TO OTHER TYPES OF TWIST SYSTEMS
D POINT-TO-POINT TRAJECTORY GENERATION
E CALCULATION OF THE TERMS FACC1 , FACC2 AND FACC3 IN CHAPTER 10
E.1 CALCULATION OF THE TERM FACC1
E.2 CALCULATION OF THE TERM FACC2
E.3 CALCULATION OF THE TERM FACC3
F DYNAMICS EQUATIONS FOR A CLAMPED-FREE FLEXIBLE BEAM
F.1 SHAPE FUNCTIONS FOR A FREE FLEXIBLE BEAM
F.2 STIFFNESS MATRIX FOR A FREE FLEXIBLE BEAM
F.3 EVALUATION OF THE INERTIA MATRIX OF A FREE FLEXIBLE 3D BERNOULLI
BEAM FOR QE J = 0
REFERENCES
INDEX
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
DYNAMICS OF PARALLEL ROBOTS
/ BRIOT, SEBASTIEN
: 2015
ABSTRACT / INHALTSTEXT
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
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
|
| any_adam_object | 1 |
| author | Briot, Sébastien Khalil, Wisama |
| author_facet | Briot, Sébastien Khalil, Wisama |
| author_role | aut aut |
| author_sort | Briot, Sébastien |
| author_variant | s b sb w k wk |
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| dewey-full | 620 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 620 - Engineering and allied operations |
| dewey-raw | 620 |
| dewey-search | 620 |
| dewey-sort | 3620 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Elektrotechnik Maschinenbau |
| doi_str_mv | 10.1007/978-3-319-19788-3 |
| format | Electronic eBook |
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| id | DE-604.BV042669541 |
| illustrated | Not Illustrated |
| indexdate | 2025-02-20T06:51:50Z |
| institution | BVB |
| isbn | 9783319197883 9783319197876 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-028101625 |
| oclc_num | 915354248 |
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| physical | XVII, 350 p. 119 illus |
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| series2 | Mechanisms and machine science |
| spellingShingle | Briot, Sébastien Khalil, Wisama Dynamics of parallel robots from rigid bodies to flexible elements Mechanisms and machine science Engineering Vibration Mechanical engineering Vibration, Dynamical Systems, Control Control, Robotics, Mechatronics Mechanical Engineering Ingenieurwissenschaften |
| title | Dynamics of parallel robots from rigid bodies to flexible elements |
| title_auth | Dynamics of parallel robots from rigid bodies to flexible elements |
| title_exact_search | Dynamics of parallel robots from rigid bodies to flexible elements |
| title_full | Dynamics of parallel robots from rigid bodies to flexible elements Sébastien Briot ; Wisama Khalil |
| title_fullStr | Dynamics of parallel robots from rigid bodies to flexible elements Sébastien Briot ; Wisama Khalil |
| title_full_unstemmed | Dynamics of parallel robots from rigid bodies to flexible elements Sébastien Briot ; Wisama Khalil |
| title_short | Dynamics of parallel robots |
| title_sort | dynamics of parallel robots from rigid bodies to flexible elements |
| title_sub | from rigid bodies to flexible elements |
| topic | Engineering Vibration Mechanical engineering Vibration, Dynamical Systems, Control Control, Robotics, Mechatronics Mechanical Engineering Ingenieurwissenschaften |
| topic_facet | Engineering Vibration Mechanical engineering Vibration, Dynamical Systems, Control Control, Robotics, Mechatronics Mechanical Engineering Ingenieurwissenschaften |
| url | https://doi.org/10.1007/978-3-319-19788-3 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028101625&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=028101625&sequence=000003&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV040685728 |
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