Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory, Gallardo-Alvarado Jaime
Автор: Carl D. Crane, III Название: Kinematic Analysis of Robot Manipulators ISBN: 0521047935 ISBN-13(EAN): 9780521047937 Издательство: Cambridge Academ Рейтинг: Цена: 8395.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Introduces the subject of robot manipulators and describes a forward and reverse analysis for serial robot arms. Focuses on closed form solution techniques applied to a broad range of manipulator geometries. Case studies show how the techniques are used in real engineering applications.
Описание: Abstract: A great deal of research work has been focussed on the theoretical and experimental studies of mechanical manipulators in recent years. Almost all of these works are related to open-loop serial-link mechanisms, but only a few have dealt with multi-degree-of-f reedom parallel manipulators such as the Stewart platform or similar mechanisms . A new type of two-degree-of -freedom Rotary-Linear (R-L) actuator was adapted in this work. Several possible configurations of parallel six-degree-of-f reedom manipulators with ground-mounted actuators have been synthesized. With parallel configuration of the manipulators, the computations can be performed simultaneously. Therefore, the computation time will be significantly reduced. Workspace analysis of a six-degree-of -freedom parallel manipulator has been presented by determining the shapes and boundaries of the subworkspace and root regions in the subworkspace. The workspace of the manipulator is obtained as the common reachable region of the subworkspaces determined by the corresponding subchains. The orientation and the rotatability of the platform are also investigated. Finally, mechanical error analysis of the manipulator, due to the minor inaccuracies in displacements of the actuators, is studied by using the theory of screws. Dissertation Discovery Company and University of Florida are dedicated to making scholarly works more discoverable and accessible throughout the world. This dissertation, "Kinematics of Parallel Manipulators With Ground-mounted Actuators" by Tzu-Chen Weng, was obtained from University of Florida and is being sold with permission from the author. A digital copy of this work may also be found in the university's institutional repository, IR@UF. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation.
Описание: Abstract: A great deal of research work has been focussed on the theoretical and experimental studies of mechanical manipulators in recent years. Almost all of these works are related to open-loop serial-link mechanisms, but only a few have dealt with multi-degree-of-f reedom parallel manipulators such as the Stewart platform or similar mechanisms . A new type of two-degree-of -freedom Rotary-Linear (R-L) actuator was adapted in this work. Several possible configurations of parallel six-degree-of-f reedom manipulators with ground-mounted actuators have been synthesized. With parallel configuration of the manipulators, the computations can be performed simultaneously. Therefore, the computation time will be significantly reduced. Workspace analysis of a six-degree-of -freedom parallel manipulator has been presented by determining the shapes and boundaries of the subworkspace and root regions in the subworkspace. The workspace of the manipulator is obtained as the common reachable region of the subworkspaces determined by the corresponding subchains. The orientation and the rotatability of the platform are also investigated. Finally, mechanical error analysis of the manipulator, due to the minor inaccuracies in displacements of the actuators, is studied by using the theory of screws. Dissertation Discovery Company and University of Florida are dedicated to making scholarly works more discoverable and accessible throughout the world. This dissertation, "Kinematics of Parallel Manipulators With Ground-mounted Actuators" by Tzu-Chen Weng, was obtained from University of Florida and is being sold with permission from the author. A digital copy of this work may also be found in the university's institutional repository, IR@UF. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation.
Описание: Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics.
Описание: This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.
Описание: The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance.
Описание: Abstract: Please see abstract Dissertation Discovery Company and University of Florida are dedicated to making scholarly works more discoverable and accessible throughout the world. This dissertation, "Geometry and Mappings of Screws With Applications to the Hybrid Control of Robotic Manipulators" by Harvey Lipkin, was obtained from University of Florida and is being sold with permission from the author. A digital copy of this work may also be found in the university's institutional repository, IR@UF. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation.
Автор: C.R. Boer; L. Molinari-Tosatti; K.S. Smith Название: Parallel Kinematic Machines ISBN: 1447112288 ISBN-13(EAN): 9781447112280 Издательство: Springer Рейтинг: Цена: 20896.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Parallel Kinematic Machines (PKMs) are one of the most radical innovations in production equipment. The Forum was established to provide institutions, technology suppliers and industrial end users with an improved understanding of the real advantages to be gained from using PKMs.
Автор: Angel Santamaria-Navarro; Joan Sol?; Juan Andrade- Название: Visual Guidance of Unmanned Aerial Manipulators ISBN: 3030072177 ISBN-13(EAN): 9783030072179 Издательство: Springer Рейтинг: Цена: 16769.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание:
This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information.For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed.Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target.The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions.All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation.The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.
Описание: The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance.
Описание: Abstract: Please see abstract Dissertation Discovery Company and University of Florida are dedicated to making scholarly works more discoverable and accessible throughout the world. This dissertation, "Geometry and Mappings of Screws With Applications to the Hybrid Control of Robotic Manipulators" by Harvey Lipkin, was obtained from University of Florida and is being sold with permission from the author. A digital copy of this work may also be found in the university's institutional repository, IR@UF. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation.
Автор: Qinchuan Li; Jacques M. Herv?; Wei Ye Название: Geometric Method for Type Synthesis of Parallel Manipulators ISBN: 9811387540 ISBN-13(EAN): 9789811387548 Издательство: Springer Рейтинг: Цена: 13974.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book focuses on the synthesis of lower-mobility parallel manipulators, presenting a group-theory-based method that has the advantage of being geometrically intrinsic. Rotations and translations of a rigid body as well as a combination of the two can be expressed and handled elegantly using the group algebraic structure of the set of rigid-body displacements. The book gathers the authors’ research results, which were previously scattered in various journals and conference proceedings, presenting them in a unified form. Using the presented method, it reveals numerous novel architectures of lower-mobility parallel manipulators, which are of interest to those in the robotics community. More importantly, readers can use the method and tool to develop new types of lower-mobility parallel manipulators independently.
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