Robot Mechanisms, Jadran Lenarcic; Tadej Bajd; Michael M. Stani?i?
Автор: Ting-Li Yang; Anxin Liu; Huiping Shen; Lu-Bin Hang Название: Topology Design of Robot Mechanisms ISBN: 9811055319 ISBN-13(EAN): 9789811055317 Издательство: Springer Рейтинг: Цена: 13974.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание:
This book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms.
The main original theoretical contributions of this book include:
A. Three basic concepts
- The "geometrical constraint type of axes" is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) and the fixed coordinate system (Chapter 2).
- The position and orientation characteristic (POC) set is used to describe the POC of the relative motion between any two links. The POC set, derived from the unit vector set of the velocity of a link, is only depend on the topological structure of a mechanism. Therefore, it is also independent of the motion positions and the fixed coordinate system (Chapter 3).
- The single open chain (SOC) unit is the base unit of the topological structure used to develop the four basic equations of the mechanism topology (Chapters 2, 4-6).
B. The mechanism composition principle based on the SOC units
This book proposes a mechanism composition principle, based on the SOC units, to establish a systematic theory for the unified modeling of the topology, kinematics, and dynamics of mechanisms based on the SOC units (Chapter 7).
C. Four basic equations
- The POC equation of serial mechanisms with 10 symbolic operation rules (Chapter 4).
- The POC equation of parallel mechanisms with 14 symbolic operation rules (Chapter 5).
- The general DOF formula for spatial mechanisms (Chapter 6).
- The coupling degree formula for the Assur kinematic chain (Chapter 7).
D. One systematic method for the topology design of robot mechanisms (Chapters 8-10)
Based on the three basic concepts and the four basic equations addressed above, this book puts forward a systematic method for the topology design of parallel mechanisms, which is fundamentally different from all existing methods. Its main characteristics are as follows:
- The design process includes two stages: the first is structure synthesis, which derives many structure types; the second involves the performance analysis, classification and optimization of structure types derived from the first stage.
- The design operation is independent of the motion positions and the fixed coordinate system. Therefore, the proposed method is essentially a geometrical method, which ensures the full-cycle DOF and the generality of geometric conditions of mechanism existence.
- Each individual design step follows an explicit formula or the guidelines for design criteria, making the operation simple, feasible and reproducible. In addition, the topology design of the SCARA PMs is studied in detail to demonstrate the proposed method (Chapter 10).
Описание: This book presents the singular configurations associated with a robot mechanism, together with robust methods for their computation, interpretation, and avoidance path planning. Having such methods is essential as singularities generally pose problems to the normal operation of a robot, but also determine the workspaces and motion impediments of its underlying mechanical structure. A distinctive feature of this volume is that the methods are applicable to nonredundant mechanisms of general architecture, defined by planar or spatial kinematic chains interconnected in an arbitrary way. Moreover, singularities are interpreted as silhouettes of the configuration space when seen from the input or output spaces. This leads to a powerful image that explains the consequences of traversing singular configurations, and all the rich information that can be extracted from them. The problems are solved by means of effective branch-and-prune and numerical continuation methods that are of independent interest in themselves. The theory can be put into practice as well: a companion web page gives open access to implementations of the algorithms and the corresponding input files. Using them, the reader can gain hands-on experience on the topic, or analyse new mechanisms beyond those examined in the text. Overall, the book contributes new tools for robot design, and constitutes a single reference source of knowledge that is otherwise dispersed in the literature.
Автор: Xianwen Kong; Cl?ment M. Gosselin Название: Type Synthesis of Parallel Mechanisms ISBN: 3642091180 ISBN-13(EAN): 9783642091186 Издательство: Springer Рейтинг: Цена: 23508.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), a key issue in the creative design of a wide variety of innovative devices such as parallel manipulators, motion simulators, and haptic devices.
Автор: Deshayes, Yannick Название: Reliability and Robustness and Failure Mechanisms of Leds Devices ISBN: 1785481525 ISBN-13(EAN): 9781785481529 Издательство: Elsevier Science Рейтинг: Цена: 12801.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание:
The rapid growth of the use of optoelectronic technology in Information and Communications Technology (ICT) has seen a complementary increase in the performance of such technologies. As a result, optoelectronic technologies have replaced the technology of electronic interconnections. However, the control of manufacturing techniques for optoelectronic systems is more delicate than that of microelectronic technologies. This practical resource, divided into four chapters, examines several methods for determining the reliability of infrared LED devices. The primary interest of this book focuses on methods of extracting fundamental parameters from the electrical and optical characterization of specific zones in components. Failure mechanisms are identified based on measured performance before and after aging tests. Knowledge of failure mechanisms allows formulation of degradation laws, which in turn allow an accurate lifetime distribution for specific devices to be proposed.
Автор: Norbert Peters; Bernd Rogg Название: Reduced Kinetic Mechanisms for Applications in Combustion Systems ISBN: 3662139529 ISBN-13(EAN): 9783662139523 Издательство: Springer Рейтинг: Цена: 14365.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This situation began to change inthe early 1970s when computing facilities became more powerful and more widely available, thereby facilitating numerical analysis of relatively simple combustion problems, typi- cally steady one-dimensional flames, with moderately detailed mechanisms of elementary reactions.
Автор: Vladimir N. Burkov; Dmitry A. Novikov; Alexander V Название: Control Mechanisms for Ecological-Economic Systems ISBN: 3319109146 ISBN-13(EAN): 9783319109145 Издательство: Springer Рейтинг: Цена: 15672.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Control Mechanisms for Ecological-Economic Systems
Описание: The general topic of the symposium follows mechanisms development through all stages of conception, modeling, analysis, synthesis and control to advanced product design. This volume brings together the latest results in the field and celebrates a series of conferences that has been running for 40 years.
Автор: Jean-Luc Faillot Название: Vibration Control of Flexible Servo Mechanisms ISBN: 3540561420 ISBN-13(EAN): 9783540561422 Издательство: Springer Рейтинг: Цена: 14673.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Reports the achievements of an ESPRIT project on the problems linked with the control of light-weight robots. It describes the design and development of a high-performance robot for use in Flexible Automated Assembly Program (FAAS) environments.
Автор: Hubert Hahn Название: Rigid Body Dynamics of Mechanisms ISBN: 3642076173 ISBN-13(EAN): 9783642076176 Издательство: Springer Рейтинг: Цена: 29209.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: An overview over the theoretical background of rigid body mechanics is given as well as a systematic approach for deriving and solving model equations of general rigid body mechanisms in the form of differential-algebraic equations (DAE).
Автор: Dan B. Marghitu Название: Mechanisms and Robots Analysis with MATLAB® ISBN: 1849967997 ISBN-13(EAN): 9781849967990 Издательство: Springer Рейтинг: Цена: 10447.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book provides a thorough, rigorous presentation of kinematics and dynamics using MATLAB. Each chapter includes an introduction, a step-by-step presentation and sample problems. The book contains over one hundred illustrations.
Автор: S.P. Shah Название: Toughening Mechanisms in Quasi-Brittle Materials ISBN: 9401054983 ISBN-13(EAN): 9789401054980 Издательство: Springer Рейтинг: Цена: 6986.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Proceedings of the NATO Advanced Research Workshop, Evanston, Illinois, July 16-20, 1990
Описание: This volume presents the proceedings of the Joint International Conference of the XII International Conference on Mechanisms and Mechanical Transmissions (MTM) and the XXIII International Conference on Robotics (Robotics ’16), that was held in Aachen, Germany, October 26th-27th, 2016. It contains applications of mechanisms and transmissions in several modern technical fields such as mechatronics, biomechanics, machines, micromachines, robotics and apparatus. In connection with these fields, the work combines the theoretical results with experimental testing. The book presents reviewed papers developed by researchers specialized in mechanisms analysis and synthesis, dynamics of mechanisms and machines, mechanical transmissions, biomechanics, precision mechanics, mechatronics, micromechanisms and microactuators, computational and experimental methods, CAD in mechanism and machine design, mechanical design of robot architecture, parallel robots, mobile robots, micro and nano robots, sensors and actuators in robotics, intelligent control systems, biomedical engineering, teleoperation, haptics, and virtual reality.
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