Staicu, Stefan Dynamics of parallel robots 9783319995212

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Автор: Staicu, Stefan
Название: Dynamics of parallel robots
ISBN: 9783319995212
Издательство: Springer
Классификация:

Машиноведение

Техника автоматического регулирования

Искусственный интеллект

ISBN-10: 3319995219
Обложка/Формат: Hardcover
Страницы: 326
Вес: 0.66 кг.
Дата издания: 17.10.2018
Серия: Parallel robots: theory and applications
Язык: English
Издание: 1st ed. 2019
Иллюстрации: 179 illustrations, black and white; xvii, 326 p. 179 illus.
Размер: 243 x 164 x 26
Читательская аудитория: Professional & vocational
Ссылка на Издательство: Link
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Поставляется из: Германии
Описание: This book establishes recursive relations concerning kinematics and dynamics of constrained robotic systems. It uses matrix modeling to determine the connectivity conditions on the relative velocities and accelerations in order to compare two efficient energetic ways in dynamics modeling: the principle of virtual work, and the formalism of Lagranges equations. 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. By using a set of successive mobile frames, the geometrical properties and the kinematics of the vector system of velocities and accelerations for each element of the robot are analysed. The dynamics problem is solved in two energetic ways: using an approach based on the principle of virtual work and applying the formalism of Lagranges equations of the second kind. These are shown to be useful for real-time control of the robots evolution. Then the recursive matrix method is applied to the kinematics and dynamics analysis of five distinct case studies: planar parallel manipulators, spatial parallel robots, planetary gear trains, mobile wheeled robots and, finally, two-module hybrid parallel robots.
Дополнительное описание: 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

Dynamics of parallel robots, Staicu, Stefan