Kinematic Analysis Of Parallel Manipulators By Algebraic Screw Theory
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Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.
Mechanisms
Author: Jaime Gallardo-Alvarado
language: en
Publisher: Academic Press
Release Date: 2022-06-18
Theory of mechanisms is an applied science of mechanics that studies the relationship between geometry, mobility, topology, and relative motion between rigid bodies connected by geometric forms. Recently, knowledge in kinematics and mechanisms has considerably increased, causing a renovation in the methods of kinematic analysis. With the progress of the algebras of kinematics and the mathematical methods used in the optimal solution of polynomial equations, it has become possible to formulate and elegantly solve problems. Mechanisms: Kinematic Analysis and Applications in Robotics provides an updated approach to kinematic analysis methods and a review of the mobility criteria most used in planar and spatial mechanisms. Applications in the kinematic analysis of robot manipulators complement the material presented in the book, growing in importance when one recognizes that kinematics is a basic area in the control and modeling of robot manipulators. - Presents an organized review of general mathematical methods and classical concepts of the theory of mechanisms - Introduces methods approaching time derivatives of arbitrary vectors employing general approaches based on the vector angular velocity concept introduced by Kane and Levinson - Proposes a strategic approach not only in acceleration analysis but also to jerk analysis in an easy to understand and systematic way - Explains kinematic analysis of serial and parallel manipulators by means of the theory of screws
Parallel Robots
In today’s rapidly evolving industrial landscape, robotics has become essential for meeting the demands of large-scale production. Parallel robots, with their closed-loop kinematic structures, offer unmatched precision, rigidity, and load-bearing capabilities, making them indispensable for tasks requiring high accuracy and efficiency. This book explores the unique advantages of parallel robots, providing a comprehensive resource for engineers, researchers, and students interested in mastering their design, analysis, and control. Building on the success of its first edition, this second edition has been extensively restructured and updated to reflect over a decade of progress in robotics. It features expanded chapters on dynamics, new sections on simulation and calibration, and a detailed exploration of control techniques, ranging from introductory linear methods to advanced force control. With nearly 45% updated references, the text ensures readers are equipped with cutting-edge knowledge. This book is both a comprehensive guide and a gateway to innovation, providing detailed insights into the design, simulation, calibration, and control of parallel robots. Whether you are a newcomer to robotics or an experienced professional, this text equips you with the knowledge to harness the full potential of parallel robots, helping you stay ahead in the dynamic field of industrial automation.