By Hamid D. Taghirad

ISBN-10: 1466555769

ISBN-13: 9781466555761

ISBN-10: 1466555777

ISBN-13: 9781466555778

ISBN-10: 2102112152

ISBN-13: 9782102112157

Annotation

Parallel constructions are more advantageous than serial ones for commercial automation purposes that require excessive precision and stiffness, or a excessive load means relative to robotic weight. even if many business functions have followed parallel buildings for his or her layout, few textbooks introduce the research of such robots by way of dynamics and regulate. Filling this hole, Parallel Robots: Mechanics and keep watch over offers a scientific method of learn the kinematics, dynamics, and keep an eye on of parallel robots. It brings jointly research and layout instruments for engineers and researchers who are looking to layout and enforce parallel constructions in industry.Covers Kinematics, Dynamics, and keep an eye on in a single VolumeThe booklet starts off with the illustration of movement of robots and the kinematic research of parallel manipulators. relocating past static positioning, it then examines a scientific method of appearing Jacobian research. a different function of the booklet is its specified insurance of the dynamics and regulate of parallel manipulators. The textual content examines dynamic research utilizing the Newton-Euler process, the primary of digital paintings, and the Lagrange formulations. ultimately, the publication elaborates at the keep an eye on of parallel robots, contemplating either movement and strength keep an eye on. It introduces a number of model-free and model-based controllers and develops strong and adaptive keep an eye on schemes. It additionally addresses redundancy solution schemes in detail.Analysis and layout instruments that can assist you Create Parallel RobotsIn each one bankruptcy, the writer revisits an analogous case experiences to teach how the thoughts might be utilized. The case reviews comprise a planar cable-driven parallel robotic, a part of a promising new new release of parallel constructions that may enable for higher workspaces. The MATLAB® code used for research and simulation is accessible on-line. Combining the research of kinematics and dynamics with equipment of designing controllers, this article bargains a holistic advent for an individual attracted to designing and imposing parallel robots. Read more...

summary: Annotation

Parallel constructions are better than serial ones for business automation functions that require excessive precision and stiffness, or a excessive load skill relative to robotic weight. even supposing many business purposes have followed parallel constructions for his or her layout, few textbooks introduce the research of such robots when it comes to dynamics and regulate. Filling this hole, Parallel Robots: Mechanics and keep an eye on provides a scientific method of examine the kinematics, dynamics, and keep an eye on of parallel robots. It brings jointly research and layout instruments for engineers and researchers who are looking to layout and enforce parallel buildings in industry.Covers Kinematics, Dynamics, and regulate in a single VolumeThe publication starts with the illustration of movement of robots and the kinematic research of parallel manipulators. relocating past static positioning, it then examines a scientific method of appearing Jacobian research. a distinct characteristic of the publication is its precise assurance of the dynamics and keep watch over of parallel manipulators. The textual content examines dynamic research utilizing the Newton-Euler approach, the main of digital paintings, and the Lagrange formulations. eventually, the ebook elaborates at the keep an eye on of parallel robots, contemplating either movement and strength keep an eye on. It introduces quite a few model-free and model-based controllers and develops powerful and adaptive regulate schemes. It additionally addresses redundancy solution schemes in detail.Analysis and layout instruments that can assist you Create Parallel RobotsIn every one bankruptcy, the writer revisits a similar case reviews to teach how the concepts can be utilized. The case reports contain a planar cable-driven parallel robotic, a part of a promising new iteration of parallel constructions that would permit for higher workspaces. The MATLAB® code used for research and simulation is on the market on-line. Combining the research of kinematics and dynamics with equipment of designing controllers, this article bargains a holistic creation for somebody drawn to designing and imposing parallel robots

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0) = −3π/4. This provides an important distinction that will be lost with a two-quadrant arc tangent. Therefore, the resulting angle from Atan2 function may lie in all four quadrants, and range over the full [−π , π ] region. This function is repeatedly used in this book to replace Atan and many programming language libraries have it predefined. 39 gives two solutions for pitch–roll–yaw angles, for which one solution lies in −π/2 ≤ β ≤ π/2, and the second solution that is found by using the negative square root formula for β lies in the other two quadrants.

6, and expand the determinant with respect to its third column coefficients: det( AR B ) = wx (u y vz − v y uz ) − w y (ux vz − vx uz ) + wx (ux v y − vx u y ) = w · (u × v) =w·w = 1. Property (VI)—Eigenvalues The eigenvalues of a rotation matrix AR B are equal to 1, e iθ , and e −iθ , where θ is calculated from tr( AR B ) − 1 . 20) θ = cos−1 2 In this equation, cos−1 denotes the inverse cosine function and tr( AR B ) denotes the trace of matrix AR B . 6, and apply the definition of eigenvalues λ, of the rotation matrix as det( AR B − λI) = ux − λ uy uz vx vy − λ vz wx w y = 0.

The motion of the rigid body can be divided into a translation represented by the vector 0 P O1 , and a rotation represented by 0 R1 as ⎡ ⎤ −1 0P O1 = ⎣ 1 ⎦ ; 1 ⎡ −1 0R = ⎣ 0 1 0 0 0 1 ⎤ 0 1⎦ . 11. 52 describes a general transformation of a vector from its description in one frame to that in a second frame. This equation is not in a compact form, since the 3 × 3 rotation matrix represents only the orientation, it is good for pure rotations, and it is not capable of describing any translational motion.

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Parallel robots : mechanics and control by Hamid D. Taghirad


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