東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

Parallel robots with unconventional ...

Grosch, Patrick.

FindBook

Google Book

Amazon

博客來

Parallel robots with unconventional joints = kinematics and motion planning /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Parallel robots with unconventional joints/ by Patrick Grosch, Federico Thomas.
其他題名:	kinematics and motion planning /
作者:	Grosch, Patrick.
其他作者:	Thomas, Federico.
出版者:	Cham :Springer International Publishing : : 2019.,
面頁冊數:	viii, 107 p. :ill., digital ;24 cm.
內容註:	1 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.
Contained By:	Springer eBooks
標題:	Parallel robots. -
電子資源:	https://doi.org/10.1007/978-3-030-11304-9
ISBN:	9783030113049

Parallel robots with unconventional joints = kinematics and motion planning /
Grosch, Patrick.

Parallel robots with unconventional jointskinematics and motion planning /[electronic resource] :by Patrick Grosch, Federico Thomas. - Cham :Springer International Publishing :2019. - viii, 107 p. :ill., digital ;24 cm. - Parallel robots: theory and applications,2524-6232. - Parallel robots: theory and applications..

1 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.

This 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.

ISBN: 9783030113049

Standard No.: 10.1007/978-3-030-11304-9doiSubjects--Topical Terms:

1002605
Parallel robots.

LC Class. No.: TJ211.4152

Dewey Class. No.: 629.892

Parallel robots with unconventional joints = kinematics and motion planning /
LDR:02888nmm a2200337 a 4500 001 2180522
003 DE-He213
005 20190320030517.0
006 m d
007 cr nn 008maaau
008 191122s2019 gw s 0 eng d
020 $a 9783030113049 $q (electronic bk.)
020 $a 9783030113032 $q (paper)
024 7 $a 10.1007/978-3-030-11304-9 $2 doi
035 $a 978-3-030-11304-9
040 $a GP $c GP
041 0 $a eng
050 4 $a TJ211.4152
072 7 $a TGBN $2 bicssc
072 7 $a TEC046000 $2 bisacsh
072 7 $a TGBN $2 thema
082 0 4 $a 629.892 $2 23
090 $a TJ211.4152 $b .G877 2019
100 1 $a Grosch, Patrick. $3 3386665
245 1 0 $a Parallel robots with unconventional joints $h [electronic resource] : $b kinematics and motion planning / $c by Patrick Grosch, Federico Thomas.
260 $a Cham : $b Springer International Publishing : $b Imprint: Springer, $c 2019.
300 $a viii, 107 p. : $b ill., digital ; $c 24 cm.
490 1 $a Parallel robots: theory and applications, $x 2524-6232
505 0 $a 1 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 $a This 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 $a Parallel robots. $3 1002605
650 0 $a Kinematics. $3 571109
650 0 $a Motion study. $3 670093
650 1 4 $a Machinery and Machine Elements. $3 893855
650 2 4 $a Control, Robotics, Mechatronics. $3 1002220
650 2 4 $a Artificial Intelligence. $3 769149
700 1 $a Thomas, Federico. $3 2055936
710 2 $a SpringerLink (Online service) $3 836513
773 0 $t Springer eBooks
830 0 $a Parallel robots: theory and applications. $3 3386666
856 4 0 $u https://doi.org/10.1007/978-3-030-11304-9
950 $a Engineering (Springer-11647)