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008 190320s2019 sz | s |||| 0|eng d
020 _a9783030113049
_9978-3-030-11304-9
024 7 _a10.1007/978-3-030-11304-9
_2doi
050 4 _aTA213-215
072 7 _aTGB
_2bicssc
072 7 _aTEC046000
_2bisacsh
072 7 _aTGB
_2thema
082 0 4 _a621.8
_223
100 1 _aGrosch, Patrick.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_941403
245 1 0 _aParallel Robots With Unconventional Joints
_h[electronic resource] :
_bKinematics and Motion Planning /
_cby Patrick Grosch, Federico Thomas.
250 _a1st ed. 2019.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2019.
300 _aVIII, 107 p. 52 illus., 42 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aParallel Robots: Theory and Applications,
_x2524-6240
505 0 _a1 Introduction: lockable and non-holonomic joints -- 1.1 Motivation -- 1.2 Precursors -- 1.3 Organization of this book -- References -- 2 Parallel robots with lockable revolute joints -- 2.1 Kinematics of the 4RbRPS parallel robot -- 2.2 Maneuvers -- 2.3 Motion planning -- 2.4 Hardware implementation -- 2.5 Software implementation -- References -- 3 Spherical non-holonomic joints -- 3.1 Under-actuated parallel robots with spherical non-holonomic joints -- 3.2 Implementation of spherical non-holonomic joints -- References -- 4 Kinematics of the 3SnPU spatial robot -- 4.1 The 3SnPU robot -- 4.2 Instantaneous kinematics -- 4.3 Statics analysis -- 4.4 Singularities -- 4.5 Controllability -- 4.6 Example -- References -- 5 Motion planning for the 3SnPU robot -- 5.1 Motion planning -- 5.2 Using truncated series -- 5.3 Example -- References -- 6 Kinematics of the Sn-2UPS spherical robot -- 6.1 Kinematic model -- 6.2 Deriving a bilinear model -- 6.3 Singularities -- 6.4 A, B, and rotations in R4 -- 6.5 Workspace computation -- 7 Motion planning for the Sn-2UPS robot -- 7.1 Kinematic model -- 7.2 Three-move motion planner -- 7.3 Two-move motion planner -- 7.4 Single-move motion planner -- 7.5 Example -- 7.6 Implementation -- References -- 8 Conclusions.
520 _aThis book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robot's ability to bring its mobile platform to the desired configuration. The kinematics of the most representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations. .
650 0 _aMachinery.
_931894
650 0 _aControl engineering.
_931970
650 0 _aRobotics.
_92393
650 0 _aAutomation.
_92392
650 0 _aArtificial intelligence.
_93407
650 1 4 _aMachinery and Machine Elements.
_931895
650 2 4 _aControl, Robotics, Automation.
_931971
650 2 4 _aArtificial Intelligence.
_93407
700 1 _aThomas, Federico.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_941404
710 2 _aSpringerLink (Online service)
_941405
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9783030113032
776 0 8 _iPrinted edition:
_z9783030113056
830 0 _aParallel Robots: Theory and Applications,
_x2524-6240
_941406
856 4 0 _uhttps://doi.org/10.1007/978-3-030-11304-9
912 _aZDB-2-ENG
912 _aZDB-2-SXE
942 _cEBK
999 _c76930
_d76930