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Parallel Robots With Unconventional Joints

Kinematics and Motion Planning

  • Patrick Grosch
  • Federico Thomas
Book

Part of the Parallel Robots: Theory and Applications book series (PRTA)

Table of contents

  1. Front Matter
    Pages i-viii
  2. Patrick Grosch, Federico Thomas
    Pages 1-18
  3. Patrick Grosch, Federico Thomas
    Pages 19-34
  4. Patrick Grosch, Federico Thomas
    Pages 35-42
  5. Patrick Grosch, Federico Thomas
    Pages 43-57
  6. Patrick Grosch, Federico Thomas
    Pages 59-66
  7. Patrick Grosch, Federico Thomas
    Pages 67-86
  8. Patrick Grosch, Federico Thomas
    Pages 87-103
  9. Patrick Grosch, Federico Thomas
    Pages 105-107

About this book

Introduction

This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robot's ability to bring its mobile platform to the desired configuration. The kinematics of the most representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations.  

Keywords

Parallel robot design Non-holonomic joints Lockable joints Robot path planning Engineering Design Robot Kinematics

Authors and affiliations

  • Patrick Grosch
    • 1
  • Federico Thomas
    • 2
  1. 1.Institut de Robòtica i Informàtica Industrial, CSIC-UPCBarcelonaSpain
  2. 2.Institut de Robòtica i Informàtica Industrial, CSIC-UPCBarcelonaSpain

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-030-11304-9
  • Copyright Information Springer Nature Switzerland AG 2019
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-030-11303-2
  • Online ISBN 978-3-030-11304-9
  • Series Print ISSN 2524-6232
  • Series Online ISSN 2524-6240
  • Buy this book on publisher's site
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