Overview

The aim of this book is to present recent advances in the area of kinematics of robots and mechanisms. The book consists of forty-five contributions grouped in eight sections that include the following prevalent topics: control and optimisation, kinematic performance of robots and mechanisms, workspace and trajectory analysis, modelling and computation, analysis and simulation. Two sections are dedicated to the problems of parallel mechanisms: performance of parallel mechanisms, and kinematic analysis of parallel mechanisms. This text should be of interest to researchers, graduate students, and engineers specializing in the kinematics of robots and mechanisms. It should also be of interest to those working with kinematic chains in rigid-body kinematics.

Full Product Details

Author:   Jadran Lenarčič ,  Vincenzo Parenti Castelli
Publisher:   Springer
Imprint:   Springer
Edition:   1996 ed.
Dimensions:   Width: 15.60cm , Height: 2.60cm , Length: 23.40cm
Weight:   1.850kg
ISBN:  

9780792341246

ISBN 10:   0792341244
Pages:   462
Publication Date:   30 June 1996
Audience:   College/higher education ,  Professional and scholarly ,  Postgraduate, Research & Scholarly ,  Professional & Vocational
Format:   Hardback
Publisher's Status:   Active
Availability:   In Print  
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Table of Contents

1. Plenary.- The direct kinematics of the general 6–5 Stewart-Gough Mechanism.- The kinematic sensitivities of redundant robotic manipulators.- 2. Control and optimisation.- Modular decomposition for optimal dynamic design of redundant macro/mini manipulators.- Singularity-robust second-order kinematic control of robot manipulators.- Dynamics and control of elastic joint robots on a group configurational manifold.- Simulation of grasping with a flexible-joint robot.- On-line collision-recognition and collision-avoidance control for redundant articulated robots.- Gradient-based kinematic control of nonredundant serial robots in special configurations.- 3. Performance.- Kinematics of a three degree-of-freedom motion platform for a low-cost driving simulator.- Kinematic manipulability of closed chains.- Singularity analysis and categorisation of generic 3-R regional manipulators.- Coordinate-free formulation of the Cartesian stiffness matrix.- Stability analysis of compliant mechanisms.- Acceleration analysis, via screw theory, and characterization of singularities of closed chains.- 4. Workspace and trajectory analysis.- Computer aided design of robot trajectories using rational motions.- Optimum design of closed kinematic chains in the presence of obstacles.- Synthesis of discretely actuated manipulator workspaces via harmonic analysis.- Optimal location of path following tasks in the workspace of a manipulator using genetic algorithms.- Feasible workspace regions for a two-revolute manipulator design.- Determination of the workspace of 4R manipulator: basic case and particular cases.- 5. Modelling and computation.- A discussion on metric relations in spatial kinematics: Implicit and explicit formulas and functional dependence.- Tongue model for characterizing vocaltract kinematics.- A new and efficient method for symbolical calculation of the Jacobian matrix.- Quaternion based force-torque analysis of open serial kinematic structures.- Dual vectors of the kinematic and the dynamic kind in matrices.- Dual numbers, Lie algebra and 6R inverse kinematics.- Backbone curves to approximate minimum joint torque configurations of planar multiple-link manipulators in presence of obstacles.- 6. Analysis and simulation.- Simulating the motion of a nonholonomic robot and its trailer.- Screwball: a user interface for specifying screws.- Simulation of flexible manipulators based on their Newton-Euler model.- Modeling of a braced robot with four-bar mechanism.- A remarkable class of overconstrained linkages.- How to extend Robert’s law for eccentrically driven, inverted slider-cranks.- 7. Performance of parallel mechanisms.- On self-motions of a class of parallel manipulators.- On the design of parallel manipulators for a prescribed workspace: a planar quaternion approach.- Kinematotropic linkages.- The interest of redundancy for the design of a spherical parallel manipulator.- Forward kinematics and mobility criteria of one type of symmetric Stewart-Gough platforms.- Singularity analysis and representation of spatial six degree of freedom parallel manipulators.- 8. Analysis of parallel mechanisms.- Kinematics of a three-dof platform with three extensible limbs.- A class of fully parallel manipulators with closed-form forward position kinematics.- Kinematic mapping of 3-legged planar platforms with holonomic higher pairs.- A forward analysis of a two degree of freedom parallel manipulator.- Closed plane mechanisms as a basis of parallel manipulators.- A 3-D sensor for parallel robot calibration. A parameter perturbation analysis.- AuthorIndex.

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