Design of High Speed Planar Parallel Manipulator PDF Download
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Author: Yi H. Chen
Publisher:
ISBN:
Category :
Languages : en
Pages : 112
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Book Description
Author: Yi H. Chen
Publisher:
ISBN:
Category :
Languages : en
Pages : 112
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Book Description
Author: NanNan Sun
Publisher:
ISBN:
Category :
Languages : en
Pages : 103
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Book Description
Industrial robots and automation technology have advanced rapidly in the last several decades. New types of manipulators that uses parallel mechanisms are becoming more popular due to their high speed and high stiffness. This thesis focuses on a sub-class of parallel manipulators that uses cables to replace rigid links for further increase in speed. The design strategies in this study were expanded from research works by Khajepour. Behzadipour, and Edmon Chan. This thesis presents analysis and development of a new cable-based planar parallel manipulator that is based on a previous prototype built by Edmon Chan.
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Author: Chan, Edmon
Publisher: University of Waterloo
ISBN:
Category :
Languages : en
Pages :
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Author: Delun Wang
Publisher: Springer Nature
ISBN: 9811501424
Category : Technology & Engineering
Languages : en
Pages : 649
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Book Description
Gathering the proceedings of the conference MeTrApp 2019, this book covers topics such as mechanism and machinery design, parallel manipulators, robotics and mechatronics, control applications, mechanical transmissions, cam and gear mechanisms, and dynamics of machinery. MeTrApp 2019 provided researchers, scientists, industry experts, and graduate students from around the globe with a platform to share their cutting-edge work on mechanisms, transmissions, and their applications. The proceedings extend this platform to all researchers, scientists, industry experts, and students interested in these fields.
Author: Grigore Gogu
Publisher: Springer Science & Business Media
ISBN: 9048198313
Category : Technology & Engineering
Languages : en
Pages : 700
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Book Description
“In other words, the invention of a mechanism will be to the scientific kinematist a synthetic problem, - which he can solve by the use of systematic, if also difficult, methods.” Reuleaux, F., Theoretische Kinematik, Braunschweig: Vieweg, 1875 Reuleaux, F., The Kinematics of Machinery, London: Macmillan, 1876 and New York: Dover, 1963 (translated by A.B.W. Kennedy) This book represents the third part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 (Gogu 2008a) presented the methodology of structural synthesis and the systematisation of structural solutions of simple and complex limbs with two to six degrees of connectivity systematically generated by the structural synthesis approach. Part 2 (Gogu 2009a) presented structural solutions of translational parallel robotic manipulators with two and three degrees of mobility. This book focuses on various topologies of parallel robotic manipulators with planar motion of the moving platform systematically generated by using the structural synthesis approach proposed in Part 1. The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms.
Author: Jee-Hwan Ryu
Publisher: BoD – Books on Demand
ISBN: 3902613203
Category : Computers
Languages : en
Pages : 510
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Book Description
Parallel manipulators are characterized as having closed-loop kinematic chains. Compared to serial manipulators, which have open-ended structure, parallel manipulators have many advantages in terms of accuracy, rigidity and ability to manipulate heavy loads. Therefore, they have been getting many attentions in astronomy to flight simulators and especially in machine-tool industries.The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in parallel manipulators. This book mainly introduces advanced kinematic and dynamic analysis methods and cutting edge control technologies for parallel manipulators. Even though this book only contains several samples of research activities on parallel manipulators, I believe this book can give an idea to the reader about what has been done in the field recently, and what kind of open problems are in this area.
Author: Serdar Küçük
Publisher: BoD – Books on Demand
ISBN: 9535104373
Category : Computers
Languages : en
Pages : 472
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Book Description
The robotics is an important part of modern engineering and is related to a group of branches such as electric
Author: J.P. Merlet
Publisher: Springer Science & Business Media
ISBN: 1402041330
Category : Technology & Engineering
Languages : en
Pages : 418
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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: Wing-Fung Jacob Cheung
Publisher:
ISBN: 9781361469880
Category :
Languages : en
Pages :
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Book Description
This dissertation, "Kinematics, Dynamics and Control of High Precision Parallel Manipulators" by Wing-fung, Jacob, Cheung, 張穎鋒, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. 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. All rights not granted by the above license are retained by the author. Abstract: Abstracts of thesis entitled Kinematics, Dynamics and Control of High Precision Parallel Manipulators Submitted by Cheung Wing Fung Jacob for the degree of Doctor of Philosophy at The University of Hong Kong in March 2007 End-point positioning accuracy, fast point-to-point motion travel and stable operation are essential in high-precision motion mechanisms for industrial applications such as semiconductor packaging. In this thesis, a high-precision 2-DOF planar parallel manipulator and a 4-DOF spatial parallel manipulator are developed to advance the motion capabilities of traditional XY table and overcome difficulties in the kinematics design and end-point positioning accuracy of existing parallel manipulators. Novel methods of kinematics design and optimization, dynamic modelling and advanced control strategies are integrated in a complete design of the proposed manipulators to achieve high-speed positioning of the end-effector to an accuracy of micrometer unit. Modular design approaches are developed for designing the kinematics structure of the proposed parallel manipulators. In this design process, consideration is given to ensuring that the kinematics design can be realized to the required tolerance using existing mechanical construction technology. A Monte-Carlo simulation method is developed to determine the workspace of the parallel manipulator, and a Jacobian decoupling approach is developed to verify that the workspace of the manipulator is free of internal singularity. Kinematics optimization is performed to suppress the kinematics error magnification effect so that the end-effector positioning accuracy matches the manufacturing tolerance of the linkages. A dynamic model is essential for motion analysis, capability estimation and controller design of the parallel manipulator. The derivation of the dynamic model is simplified using a nested approach whereby the 4-DOF parallel manipulator is decomposed into triangular mechanisms at the actuator level and at the end-effector level, resulting in a high degree of decoupling in the modelling process. Recursive Newton-Euler method is employed to determine the dynamic model. The response of the dynamic model is simulated using sinusoidal force profiles to drive the linear actuators of the manipulator. The results obtained from the kinematics design, optimization and dynamic modelling are used to develop prototypes of the planar and 4-DOF parallel manipulators for the purpose of experimentation. A traditional PID computed-torque controller is first designed for the 2-DOF planar and the 4-DOF parallel manipulators using a model-based approach. In view of the limitations of the computed-torque control method, a robust learning control method is developed to enhance the motion performance by minimizing the settling time and steady-state error of the parallel manipulators. A frequency-domain system identification approach is used to identify the high frequency dynamics of the manipulator. A robust control design method is employed to design a stable, fast tracking-response feedback controller with less sensitivity to high frequency disturbance, with the control parameters determined using genetic algorithm. A Fourier-series based iterative learning controller is added to the feedforward path of the controller to improve the settling time by reducing the dynamic tracking
Author: Tobias Bruckmann
Publisher: Springer Science & Business Media
ISBN: 3642319874
Category : Technology & Engineering
Languages : en
Pages : 443
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Book Description
Gathering presentations to the First International Conference on Cable-Driven Parallel Robots, this book covers classification and definition, kinematics, workspace analysis, cable modeling, hardware/prototype development, control and calibration and more.
