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© 2019

Parallel Robots With Unconventional Joints

Kinematics and Motion Planning

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

  1. 1.Institut de Robòtica i Informàtica Industrial, CSIC-UPCBarcelonaSpain
  2. 2.Institut de Robòtica i Informàtica Industrial, CSIC-UPCBarcelonaSpain

Bibliographic information

  • Book Title Parallel Robots With Unconventional Joints
  • Book Subtitle Kinematics and Motion Planning
  • Authors Patrick Grosch
    Federico Thomas
  • Series Title Parallel Robots: Theory and Applications
  • Series Abbreviated Title Parallel Robots: Theory and Applications
  • 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 Engineering (R0)
  • Hardcover ISBN 978-3-030-11303-2
  • eBook ISBN 978-3-030-11304-9
  • Series ISSN 2524-6232
  • Series E-ISSN 2524-6240
  • Edition Number 1
  • Number of Pages VIII, 107
  • Number of Illustrations 10 b/w illustrations, 42 illustrations in colour
  • Topics Machinery and Machine Elements
    Control, Robotics, Mechatronics
    Artificial Intelligence
  • Buy this book on publisher's site
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Reviews

“This book should be of interest to practicing and research engineers as well as Ph.D. students from the field of mechanical engineering and, in particular, from robotics.” (Clementina Mladenova, zbMATH 1447.70001, 2020)