Download e-book for iPad: Parallel robots : mechanics and control by Hamid D. Taghirad

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 beneficial than serial ones for commercial automation purposes that require excessive precision and stiffness, or a excessive load potential relative to robotic weight. even though many business purposes have followed parallel constructions for his or her layout, few textbooks introduce the research of such robots by way of dynamics and keep watch over. Filling this hole, Parallel Robots: Mechanics and keep watch over offers a scientific method of study the kinematics, dynamics, and keep watch over 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 ebook 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 distinct function of the publication is its special insurance of the dynamics and keep watch over of parallel manipulators. The textual content examines dynamic research utilizing the Newton-Euler process, the main of digital paintings, and the Lagrange formulations. eventually, the e-book elaborates at the regulate of parallel robots, contemplating either movement and strength keep watch over. It introduces numerous model-free and model-based controllers and develops strong and adaptive keep watch over schemes. It additionally addresses redundancy answer schemes in detail.Analysis and layout instruments that will help you Create Parallel RobotsIn every one bankruptcy, the writer revisits an analogous case reviews to teach how the options will be utilized. The case stories contain a planar cable-driven parallel robotic, a part of a promising new iteration of parallel constructions that may let for greater workspaces. The MATLAB® code used for research and simulation is accessible on-line. Combining the research of kinematics and dynamics with tools of designing controllers, this article deals a holistic creation for someone attracted to designing and enforcing parallel robots. Read more...

summary: Annotation

Parallel buildings are better than serial ones for commercial automation functions that require excessive precision and stiffness, or a excessive load ability relative to robotic weight. even supposing 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 keep an eye on. Filling this hole, Parallel Robots: Mechanics and keep watch over offers a scientific method of examine the kinematics, dynamics, and regulate 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 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 unique function of the publication is its specified assurance 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 regulate. It introduces a variety of model-free and model-based controllers and develops strong and adaptive regulate schemes. It additionally addresses redundancy answer schemes in detail.Analysis and layout instruments that can assist you Create Parallel RobotsIn each one bankruptcy, the writer revisits an identical case reviews to teach how the recommendations could be utilized. The case reports comprise a planar cable-driven parallel robotic, a part of a promising new new release of parallel buildings that may permit for better workspaces. The MATLAB® code used for research and simulation is offered on-line. Combining the research of kinematics and dynamics with equipment of designing controllers, this article bargains a holistic creation for an individual drawn to designing and imposing parallel robots

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8, start with the state that the moving frame {B} coincides with the fixed frame {A}. Rotate the moving frame about u axis of the moving frame by an angle α and denote the moving frame in this state as {B }. Then rotate the moving frame {B } about its v axis by an angle β and denote the moving frame in this state as {B }. Finally, rotate the moving frame {B } about its w axis by an angle γ and denote the final moving frame as {B}. Note that each rotation occurs about an axis the location of which depends on the preceding rotations.

W–u–w Euler Angles The last example of Euler angles described here is similar to the previous case, with the difference that the second rotation is about the rotated u axis (instead of v axis in w–v–w Euler angles). The resulting rotation matrix is obtained as follows: Rwuw (α, β, γ ) = Rw (α)Ru (β)Rw (γ ) ⎡ cαcγ − sαcβsγ −cαsγ − sαcβcγ = ⎣sαcγ + cαcβsγ −sαsγ + cαcβcγ sβsγ sβcγ ⎤ sαsβ −cαsβ ⎦ . 49) The inverse map may be obtained as follows. If sβ = 0, then 2 + r 2 , r ), β = Atan2 (± r31 32 33 α = Atan2 (r13 /sβ, −r23 /sβ), γ = Atan2 (r31 /sβ, r32 /sβ).

This form is due to the method used in the telescope. The telescope’s dish is fixed in place, and the receiver is repositioned to intercept signals reflected from different directions by the spherical dish surface. The receiver is located on a 900-ton platform that is suspended 150 m in the air above the dish by 18 cables running from three reinforced concrete towers. The position of the receiver is controlled with a large cable mechanism similar to the LAR application [56]. Other similar projects are also being undertaken in other countries.

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Parallel robots : mechanics and control by Hamid D. Taghirad


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