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Parallel Robots [Kõva köide]

J.-P. Merlet

Formaat: Hardback, 384 pages, kõrgus x laius x paksus: 234x156x23 mm, kaal: 715 g, index, references
Sari: Solid Mechanics and its Applications v. 74
Ilmumisaeg: 01-Jan-2000
Kirjastus: Kluwer Academic Publishers
ISBN-10: 0792363086
ISBN-13: 9780792363088

Teised raamatud teemal:

Robotics

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Formaat: Hardback, 384 pages, kõrgus x laius x paksus: 234x156x23 mm, kaal: 715 g, index, references
Sari: Solid Mechanics and its Applications v. 74
Ilmumisaeg: 01-Jan-2000
Kirjastus: Kluwer Academic Publishers
ISBN-10: 0792363086
ISBN-13: 9780792363088

Teised raamatud teemal:

Robotics

Püsilink: https://www.kriso.ee/db/9780792363088.html

Märksõnad:

Parallel robots

Parallel robots are closed-loop mechanisms offering very good performance in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a wide variety of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the machine-tool industry. This book presents a synthesis of results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for whom practical results and applications are presented).

Preface

xiii

Notation

Introduction

(14)

Characteristics of classical robots

(3)

Other types of architecture

(4)

Needs for robotics

(1)

Parallel robots: definition

(4)

Generalized parallel manipulators: definition

(1)

Parallel manipulators

(1)

Fully parallel manipulators

(1)

Fully parallel manipulators: analysis

(1)

Planar robots

(1)

General case

(1)

Contents

(1)

Exercises

(2)

Architectures

(50)

Introduction

(1)

Planar robots

(3)

2 dof manipulators

(2)

3 dof manipulators

(1)

Spatial motion robots

(32)

Joints

(1)

Actuators

(1)

Classification of parallel robots

(1)

Synthesis of architectures

(1)

Generator combinations and intersections

(1)

Motion group generator

(1)

3 dof manipulators

(1)

Translation manipulators

(4)

Orientation manipulators

(3)

Complex degrees of freedom manipulators

(4)

4 dof manipulators

(1)

5 dof manipulators

(2)

6 dof manipulators

(1)

RRPS chain robot

(4)

PRRS chain robots

(2)

RRRS chain robots

(1)

Exotic chain robots

(5)

Decoupled robots

(2)

Articulated truss

(2)

Examples of applications

(9)

Spatial applications

(2)

Medical applications

(1)

Industrial applications

(2)

Joysticks

(1)

Simulators

(2)

Special applications

(2)

Notion of standard manipulators

(1)

Exercises

(3)

Jacobian and inverse kinematics

(26)

Inverse kinematics

(9)

General method

(1)

Planar manipulators

(1)

RRPS manipulators

(1)

PRRS manipulators

(1)

RRRS manipulators

(1)

Spherical manipulators

(1)

Extrema of the articular coordinates

(1)

Extrema for a cartesian box

(1)

Extrema for a sphere

(1)

Extrema for any space

(1)

Exact and approximate computation

(1)

Inverse jacobian matrix

(8)

Euler angles inverse jacobian

(1)

Example: RRPS manipulators

(1)

Inverse kinematic jacobian

(1)

Example: RRPS manipulators

(1)

Example: PRRS manipulators

(1)

Example: RRRS manipulators

(1)

Other example

(1)

Isotropy

(2)

Jacobian matrix

(1)

Direct calculation of the Jacobian

(1)

Jacobian matrix and intrnal sensors

(2)

Practical examples

(1)

Calibration

(3)

Exercises

(3)

Direct kinematics

(58)

Planar mechanism

(7)

The 4-bar mechanism

(1)

Coupler curve and circularity

(1)

Direct kinematics of the 3-RPR robot

(1)

Assembly modes

(1)

Polynomial direct kinematics

(2)

Particular cases

(1)

Other planar robots

(1)

Mechanisms for translations in space

(1)

Spherical mechanisms

(2)

6 degrees of freedom mechanisms

100

(19)

Example of analysis: the TSSM

100

(1)

Upper bound on the number of assembly modes

100

(2)

Polynomial formulation

102

(2)

Example of TSSM with 16 assembly modes

104

(2)

Analysis of other space mechanisms

106

(1)

MSSM

107

(1)

Active wrist

108

(1)

Stewart platform

109

(1)

3 degrees of freedom wrist

110

(3)

Main results

113

(1)

6-5 manipulators

113

(1)

6-4 manipulators

114

(1)

6-3 manipulators

115

(1)

5-5 manipulators

115

(1)

5-4 manipulators

115

(2)

4-4 manipulators

117

(1)

Manipulators with 5 aligned points

118

(1)

Manipulators PPP-3S,PRR-3S,PPR-3S

118

(1)

Nair systematic method

119

(7)

Principle of the method

119

(1)

The linear system

120

(1)

Closure equations

121

(1)

Resolution

121

(1)

Example: wrist with 3 degrees of freedom

122

(2)

Results of Nair's method

124

(1)

9 link manipulators

124

(1)

7 and 8 link manipulators

125

(1)

R-R manipulators

125

(1)

Conclusion

126

(1)

Case of the general robot

126

(4)

The SSM

126

(1)

Maximum number of assembly modes

126

(1)

Determination of the solutions

127

(1)

General robots

128

(1)

Maximum number of assembly modes

128

(1)

Determination of the solutions

128

(2)

Summary of results and conclusion

130

(3)

Fast numerical methods

133

(7)

Iterative methods

133

(4)

Methods efficiency and computation time

137

(1)

Convergence of the iterative methods

137

(3)

Drawbacks of iterative methods and real-time issues

140

(1)

Direct kinematics with extra sensors

140

(4)

Type and location of the extra sensors

141

(1)

Maximal number of sensors

141

(1)

Addition of angular sensors

142

(1)

Addition of linear sensors

142

(1)

Relationship between sensors accuracy and pose accuracy

142

(2)

Conclusions

144

(1)

Exercises

145

(4)

Singular configurations

149

(34)

Introduction

149

(2)

Singularities and velocity

149

(1)

Singularities and statics

150

(1)

Singularities and kinematics

150

(1)

State of the art

151

(1)

Grassmann geometry

152

(18)

Variety and geometry

153

(2)

Principle governing the search of singularities

155

(1)

Analytical examples

155

(1)

Planar manipulator

155

(2)

MSSM

157

(9)

Analysis of other spatial manipulators

166

(2)

TSSM

168

(1)

3 dof wrist

168

(2)

INRIA active wrist

170

(1)

Degrees of freedom associated with singularities

170

(4)

Example: the MSSM

171

(1)

Type 3d configuration

171

(1)

Type 5a configuration

172

(2)

Type 5b configuration

174

(1)

Manipulability and condition number

174

(3)

Practical search for singularities

177

(3)

Semi-jacobian method

178

(1)

Singularity in a cartesian box

178

(2)

Singularities in an articular workspace

180

(1)

Mechanisms in permanent singularity

180

(1)

Singularity-free path-planning

180

(1)

Exercises

181

(2)

Workspace

183

(50)

Workspace limits and representation

183

(5)

The different types of workspaces

183

(1)

State of the art

184

(4)

Calculation of the constant orientation workspace

188

(1)

Planar manipulator

189

(10)

Constant orientation workspace

189

(1)

Articular coordinates limits

190

(1)

Mechanical limits on the passive joints

190

(1)

Orientation workspace

191

(1)

Dextrous workspace

192

(1)

Maximal workspace

192

(4)

Inclusive orientation workspace

196

(1)

Total orientation workspace

197

(2)

6 dof manipulators

199

(19)

Cross-sections of the constant orientation workspace

199

(2)

3D constant orientation workspace

201

(2)

Workspace area and volume

203

(1)

Mechanical limits on the joints

204

(5)

Interference between links

209

(1)

Orientation workspace

210

(2)

Dextrous workspace

212

(2)

Maximal workspace

214

(2)

Comparison between architectures

216

(2)

Trajectory checking

218

(6)

Constant orientation trajectory

218

(1)

Limits on the link lengths

219

(1)

Mechanical limits on the joints

220

(1)

Computation time

220

(2)

Non constant orientation trajectory

222

(1)

Articular coordinates limits

222

(1)

Computation time and example

223

(1)

Path-planning

224

(6)

Introduction

224

(1)

Path-planning in a plane

224

(1)

Path-Planning with tiling

224

(1)

Path-planning with visibility graph

225

(1)

Path-planning in space with tiling

226

(1)

Path-planning for planar robots

227

(3)

Exercises

230

(3)

Velocity and Acceleration

233

(14)

Relations between the articular velocities and the generalized velocities

233

(1)

Determination of the articular velocities

233

(1)

Determination of the twist

233

(1)

Extrema of the generalized velocities

234

(5)

Extrema of the generalized velocities in a pose

234

(2)

Minimum of the cartesian velocity in a translation workspace

236

(3)

Extrema of the articular velocities in a translation workspace

239

(4)

Particular case

241

(1)

Determination of the motion of the passive joints

242

(1)

Accelerations

243

(1)

General robot

243

(1)

Active wrist

244

(1)

Conclusion

244

(1)

Exercises

245

(2)

Static analysis

247

(22)

Relations between generalized and articular forces

247

(1)

Fundamental relations

247

(1)

Determination of the generalized forces

247

(1)

Determination of the articular forces

247

(1)

Articular forces and maximal generalized forces

248

(7)

Maximal articular forces in a pose

248

(1)

Maximal articular forces in a translation workspace

249

(1)

Extrema on a line segment

250

(1)

Extrema for an horizontal rectangle

251

(1)

Extrema for a cartesian box

252

(1)

Maximal generalized forces in a pose

253

(1)

Maximal generalized forces in the workspace

254

(1)

Parallel robots as force sensors

255

(1)

Stiffness and compliance

256

(8)

Stiffness matrix of a parallel robot

256

(1)

Elastic model

256

(2)

Beam model

258

(1)

Passive compliance

258

(1)

Stiffness maps

259

(1)

Iso-stiffness maps

260

(1)

Iso-stiffness of the general robot

260

(3)

Iso-stiffness of the active wrist

263

(1)

Extrema of the stiffnesses in a workspace

264

(2)

Extrema on a line segment

264

(1)

Extrema on a rectangle

264

(1)

Extrema in a cartesian box

265

(1)

Balancing

266

(1)

Exercises

266

(3)

Dynamics

269

(14)

Introduction

269

(2)

MSSM inverse dynamics

271

(2)

SSM dynamics

273

(4)

Hypothesis and notation

273

(1)

Algorithm principle

274

(3)

Active wrist dynamics

277

(1)

Computation time

278

(1)

Examples

278

(3)

Inverse dynamics

279

(1)

Direct dynamics

279

(2)

Exercises

281

(2)

Design

283

(18)

Introduction

283

(4)

Design method

287

(13)

Reduction of the parameters

288

(1)

Restriction of the search space

289

(1)

Restriction via the workspace

289

(2)

Restriction via the articular velocities

291

(2)

Search for the optimal robot

293

(3)

Design examples

296

(1)

HFM2 robot

296

(2)

HDM1 robot

298

(2)

Exercises

300

(1)

Conclusion

301

(4)

WEB adresses

305

(4)

Index

309

(18)

References

327

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