Dynamics of Parallel Robots
From Rigid Bodies to Flexible Elements
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Beschreibung
This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimaltrajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimaltrajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
Fully dedicated to the dynamics of parallel robots (rigid and flexible) Includes mathematica codes for the computation of dynamic models of rigid and flexible parallel robots Includes experimental results that show that dynamic models are not only equations, but are strongly linked to reality Includes supplementary material: sn.pub/extras
Autor*in
Sébastien Briot
Themen in »Dynamics of Parallel Robots«
Dynamics Flexible Elements Parallel Robots Rigid Bodies Singularities
Stimmen zu »Dynamics of Parallel Robots«
“The present book, based on results published by many authors as well as by the two authors of the book over the last fifteen years, treats some special problems on the dynamics of parallel robots from rigid bodies to flexible elements … . the intended audience for it consists of researchers, scientists and engineers, as well as master and PhD students interested in the theory and applications of parallel robots.” (Clementina Mladenova, zbMATH 1369.68001, 2017)
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