Dynamics of Parallel Robots

AvStefan Staicu

Inbunden, Engelska, 2018

Del i serien Parallel Robots: Theory and Applications

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Beskrivning

First, a brief fundamental theory is presented on matrix mechanics of the rigid body, which is then developed in the following five chapters treating matrix kinematics of the rigid body, matrix kinematics of the composed motion, kinetics of the rigid body, dynamics of the rigid body, and analytical mechanics.

Produktinformation

Utgivningsdatum:2018-10-01
Mått:155 x 235 x 26 mm
Vikt:704 g
Format:Inbunden
Språk:Engelska
Serie:Parallel Robots: Theory and Applications
Antal sidor:326
Förlag:Springer International Publishing AG
ISBN:9783319995212

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Innehållsförteckning

1 Introduction.- 1.1 Robotic systems.- 1.2 Historical development.- 1.3 Mechanics of robots.- 2 Matrix kinematics of the rigid body.- 2.1 Position and orientation of a rigid body.- 2.2 Velocity field.- 2.3 Acceleration field.- 2.4 Twist of velocity field of a rigid body.- 2.5 Types of rigid body motions.- 3 Matrix kinematics of composed motion.- 3.1 Kinematics of composed motion of a point.- 3.2 Kinematics of composed motion of a rigid body.- 3.3 Application to kinematics analysis of mechanisms.- 4 Kinetics of the rigid body.- 4.1 Centre of mass and tensor of static moments of a rigid body.- 4.2 Moments of inertia of a rigid body.- 4.3 Kinetic impulse of a system of particles.- 4.4 Kinetic moment of a rigid body.- 4.5 Kinetic energy of a rigid body.- 4.6 Power and work of the forces acting on a system of particles.- 4.7 Power and work of the forces acting on a rigid body.- 5 Dynamics of the rigid body.- 5.1 Fundamental system of differential equations of motion for a system of particles.- 5.2 Theorem of kinetic impulse.- 5.3 Theorem of kinetic moment.- 5.4 Theorem of kinetic moment with respect to a translating frame.- 5.5 Theorem of kinetic energy.- 5.6 Conservation of mechanical energy.- 5.7 Theorem of kinetic energy with respect to a translating frame.- 5.8 Equations of motion in dynamics of the rigid body.- 6 Analytical Mechanics.- 6.1 Principle of virtual work.- 6.2 D’Alembert principle.- 6.3 Lagrange equations.- 6.4 Canonical Hamiltonian equations.- 7 Dynamics of constrained robotic systems.- 7.1 Geometric model of the robot.- 7.2 Velocities and accelerations.- 7.3 Equations of motion.- 7.4 Advantages of the present method.- 7.5 Application to dynamics analysis of mechanisms.- 8 Planar parallel robots.- 8.1 Power requirement comparison in dynamics of the 3-PRR planar parallel robot.- 8.2 Internal reaction joint forces in dynamics of the 3-RRR planar parallel robot.- 8.3 Inverse kinematics and dynamics of a 3-PRP planar parallel robot.- 9 Spatial parallel robots.- 9.1 Dynamics modelling of Delta translational parallel robot.- 9.2 Inverse dynamics of Agile Wrist spherical parallel robot.- 9.3 Dynamics of the 6-6 Stewart parallel manipulator.- 9.4 Internal joint forces in dynamics of a 3-RPS parallel manipulator.- 10 Geared parallel mechanisms.- 10.1 Kinematics and dynamics analysis of the Minuteman cover drive.- 10.2 Inverse dynamics of a 2-DOF orienting gear train.- 10.3 Dynamics analysis of the Cincinnati-Milacron wrist robot.- 11 Mobile wheeled robots.- 11.1 Kinematics and dynamics of a mobile robot provided with caster wheel.- 11.2 Dynamics of the non-holonomic two-wheeled pendulum robot.- 12 Kinematics and dynamics of a hybrid parallel manipulator.- 12.1 Structural description of the hybrid parallel manipulator.- 12.2 Kinematics analysis.- 12.3 Inverse dynamics model.- References.