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Dynamics of Parallel Robots

From Rigid Bodies to Flexible Elements

  • Sébastien Briot
  • Wisama Khalil

Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 35)

Table of contents

  1. Front Matter
    Pages i-xvii
  2. Prerequisites

    1. Front Matter
      Pages 1-1
    2. Sébastien Briot, Wisama Khalil
      Pages 3-18
    3. Sébastien Briot, Wisama Khalil
      Pages 19-32
    4. Sébastien Briot, Wisama Khalil
      Pages 33-37
    5. Sébastien Briot, Wisama Khalil
      Pages 39-49
    6. Sébastien Briot, Wisama Khalil
      Pages 61-71
  3. Dynamics of Rigid Parallel Robots

    1. Front Matter
      Pages 73-73
    2. Sébastien Briot, Wisama Khalil
      Pages 75-138
    3. Sébastien Briot, Wisama Khalil
      Pages 139-199
  4. Dynamics of Flexible Parallel Robots

    1. Front Matter
      Pages 235-235
    2. Sébastien Briot, Wisama Khalil
      Pages 237-278
    3. Sébastien Briot, Wisama Khalil
      Pages 279-297
  5. Sébastien Briot, Wisama Khalil
    Pages E1-E1
  6. Back Matter
    Pages 299-350

About this book

Introduction

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 optimal trajectory 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.

Keywords

Dynamics Flexible Elements Parallel Robots Rigid Bodies Singularities

Authors and affiliations

  • Sébastien Briot
    • 1
  • Wisama Khalil
    • 2
  1. 1.Institut de Recherche en Com. et Cybernétique de NantesCNRS, IRCCyNNantes Cedex 3France
  2. 2.U.M.R CNRS 6597École Centrale de Nantes, IRCCyNNantes Cedex 3France

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-319-19788-3
  • Copyright Information Springer International Publishing Switzerland 2015
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-319-19787-6
  • Online ISBN 978-3-319-19788-3
  • Series Print ISSN 2211-0984
  • Series Online ISSN 2211-0992
  • Buy this book on publisher's site
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