Analysis and Design of a Six-Degree-Of-Freedom Stewart Platform-Based Robotic Wrist PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Analysis and Design of a Six-Degree-Of-Freedom Stewart Platform-Based Robotic Wrist PDF full book. Access full book title Analysis and Design of a Six-Degree-Of-Freedom Stewart Platform-Based Robotic Wrist by National Aeronautics and Space Administration (NASA). Download full books in PDF and EPUB format.
Author: National Aeronautics and Space Administration (NASA)
Publisher: Createspace Independent Publishing Platform
ISBN: 9781725110762
Category :
Languages : en
Pages : 34
Get Book Here
Book Description
The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed. Nguyen, Charles C. and Antrazi, Sami and Zhou, Zhen-Lei Unspecified Center NASA-CR-187660, NAS 1.26:187660 NAG5-780...
Author: National Aeronautics and Space Administration (NASA)
Publisher: Createspace Independent Publishing Platform
ISBN: 9781725110762
Category :
Languages : en
Pages : 34
Get Book Here
Book Description
The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed. Nguyen, Charles C. and Antrazi, Sami and Zhou, Zhen-Lei Unspecified Center NASA-CR-187660, NAS 1.26:187660 NAG5-780...
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 1572
Get Book Here
Book Description
Author: J.P. Merlet
Publisher: Springer Science & Business Media
ISBN: 1402041330
Category : Technology & Engineering
Languages : en
Pages : 418
Get Book Here
Book Description
Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 150 exercises and numerous internet addresses), researchers (with over 650 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results, mistakes to avoid, and applications are presented). Since the publication of the first edition (2000) there has been an impressive increase in terms of study and use of this kind of structure that are reported in this book. This second edition has been completely overhauled. The initial chapter on kinematics has been split into Inverse Kinematics and Direct Kinematics. A new chapter on calibration was added. The other chapters have also been rewritten to a large extent. The reference section has been updated to include around 45% new works that appeared after the first edition.
Author: J.-P. Merlet
Publisher: Springer Science & Business Media
ISBN: 9401095876
Category : Technology & Engineering
Languages : en
Pages : 367
Get Book Here
Book Description
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 field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Author: Kevin M. Lynch
Publisher: Cambridge University Press
ISBN: 1107156300
Category : Computers
Languages : en
Pages : 545
Get Book Here
Book Description
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author: Lung-Wen Tsai
Publisher: John Wiley & Sons
ISBN: 9780471325932
Category : Technology & Engineering
Languages : en
Pages : 526
Get Book Here
Book Description
Complete, state-of-the-art coverage of robot analysis This unique book provides the fundamental knowledge needed for understanding the mechanics of both serial and parallel manipulators. Presenting fresh and authoritative material on parallel manipulators that is not available in any other resource, it offers an in-depth treatment of position analysis, Jacobian analysis, statics and stiffness analysis, and dynamical analysis of both types of manipulators, including a discussion of industrial and research applications. It also features: * The homotopy continuation method and dialytic elimination method for solving polynomial systems that apply to robot kinematics * Numerous worked examples and problems to reinforce learning * An extensive bibliography offering many resources for more advanced study Drawing on Dr. Lung-Wen Tsai's vast experience in the field as well as recent research publications, Robot Analysis is a first-rate text for upper-level undergraduate and graduate students in mechanical engineering, electrical engineering, and computer studies, as well as an excellent desktop reference for robotics researchers working in industry or in government.
Author:
Publisher:
ISBN:
Category : Government publications
Languages : en
Pages :
Get Book Here
Book Description
Author:
Publisher:
ISBN:
Category : Robotics
Languages : en
Pages : 730
Get Book Here
Book Description
Author: Xiaolong Li
Publisher: World Scientific
ISBN: 9814740144
Category : Technology & Engineering
Languages : en
Pages : 1172
Get Book Here
Book Description
This book consists of one hundred and seventeen selected papers presented at the 2015 International Conference on Electronics, Electrical Engineering and Information Science (EEEIS2015), which was held in Guangzhou, China, during August 07-09, 2015. EEEIS2015 provided an excellent international exchange platform for researchers to share their knowledge and results and to explore new areas of research and development.Global researchers and practitioners will find coverage of topics involving Electronics Engineering, Electrical Engineering, Computer Science, Technology for Road Traffic, Mechanical Engineering, Materials Science and Engineering Management. Experts in these fields contributed to the collection of research results and development activities.This book will be a valuable reference for researchers working in the field of Electronics, Electrical Engineering and Information Science.
Author:
Publisher:
ISBN:
Category : Government publications
Languages : en
Pages : 1284
Get Book Here
Book Description
