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Author: Sébastien Briot
Publisher: Springer
ISBN: 3319197886
Category : Technology & Engineering
Languages : en
Pages : 356
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Book Description
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.
Author: Sébastien Briot
Publisher: Springer
ISBN: 3319197886
Category : Technology & Engineering
Languages : en
Pages : 356
Get Book Here
Book Description
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.
Author: W. Khalil
Publisher: Butterworth-Heinemann
ISBN: 0080536611
Category : Computers
Languages : en
Pages : 503
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Book Description
Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level
Author: Kenneth Henderson Hunt
Publisher: Oxford University Press, USA
ISBN:
Category : Language Arts & Disciplines
Languages : en
Pages : 484
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Book Description
This text relates classical two- and three-dimensional geometry to mechanisms. The emphasis is geometrical rather than analytical.
Author: Baichun Zhang
Publisher: Springer
ISBN: 3030035387
Category : Technology & Engineering
Languages : en
Pages : 355
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Book Description
This is the proceedings of the 6th International Symposium on History of Machines and Mechanisms that was held in Beijing, China, in September 2018. The Symposium provided an international forum for presenting and discussing historical developments in the field of Machine and Mechanism Science (MMS). Special sections focused on the following topics: . modern reviews of past works · engineers in history, and their works · direct memories of the recent past · the development of theories · the history of the design of machines and mechanisms · development of automation and robots · the development of teaching of MMS · the schools and institutes of mechanical engineering · the heritage of machines and mechanisms
Author: Grigore Gogu
Publisher: Springer Science & Business Media
ISBN: 940170161X
Category : Technology & Engineering
Languages : en
Pages : 541
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Book Description
This book presents recent advances in the integration and the optimization of product design and manufacturing systems. The book is divided into 3 chapters corresponding to the following three main topics : - optimization of product design process (mechanical design process, mass customization, modeling the product representation, computer support for engineering design, support systems for tolerancing, simulation and optimization tools for structures and for mechanisms and robots), -optimization of manufacturing systems (multi-criteria optimization and fuzzy volumes, tooth path generation, machine-tools behavior, surface integrity and precision, process simulation), - methodological aspects of integrated design and manufacturing (solid modeling, collaborative tools and knowledge formalization, integrating product and process design and innovation, robust and reliable design, multi-agent approach in VR environment). The present book is of interest to engineers, researchers, academic staff, and postgraduate students interested in integrated design and manufacturing in mechanical engineering.
Author: Ahmed Belasri
Publisher: Springer Nature
ISBN: 9811554447
Category : Technology & Engineering
Languages : en
Pages : 659
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Book Description
This book highlights peer reviewed articles from the 1st International Conference on Renewable Energy and Energy Conversion, ICREEC 2019, held at Oran in Algeria. It presents recent advances, brings together researchers and professionals in the area and presents a platform to exchange ideas and establish opportunities for a sustainable future. Topics covered in this proceedings, but not limited to, are photovoltaic systems, bioenergy, laser and plasma technology, fluid and flow for energy, software for energy and impact of energy on the environment.
Author:
Publisher:
ISBN:
Category : Dissertations, Academic
Languages : en
Pages : 674
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Book Description
Author: Jadran Lenarčič
Publisher: Springer
ISBN: 3319066986
Category : Technology & Engineering
Languages : en
Pages : 536
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Book Description
The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.
Author:
Publisher:
ISBN:
Category : Canada
Languages : en
Pages : 732
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Book Description
Author: S. Roussos
Publisher: Springer Science & Business Media
ISBN: 9401706611
Category : Technology & Engineering
Languages : en
Pages : 641
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Book Description
G.HAINNAUX Departement Milieu et Activites Agricoles, Centre ORSTOM, 911 Avenue d' Agropolis, B.P. 5045, 34032 Montpellier Cedex , France. Solid state fermentation, popularly abbreviated as SSF, is currently investigated by many groups throughout the world. The study of this technique was largely neglected in the past in European and Western countries and there is now a high demand for SSF, meaning in food, environment, agricultural, phannaceutical and many other biotechnological applications. It gives me satisfaction to note that the importance of this technique was realised at my department way back in 1975 since then, our team has put concentrated efforts on developing this technique. xvii Foreword Advances in Solid State Fermentation Foreword M. PUYGRENIER Agropolis Valorisation, Avenue d' Agropolis, 34394 Montpellier Cedex 5, France. On the name of the Scientific Community, I would like to express the wish that this International Symposium on SSF should be successful. Solid State Fermentation is part of biotechnology research. It consists on seeding solid culture medium with bacteria or fungi (filamentous or higher) and on producing, in this medium (solid components and exudates) metabolites and high value products. In fact, this process is very old. In older industries such the food and agricultural, this technique has been extensively used. An example of this is the production of pork sausages and Roquefort cheese. Pharmaceutical industry could make extensive use of SSF in the production of secondary metabolites of many kinds and development in this direction is soon expected.
