Parallel Robots With Unconventional Joints: Kinematics and Motion Planning (Parallel Robots: Theory and Applications)
Authors: Patrick Grosch – Federico Thomas
ISBN-10: 3030113035
ISBN-13: 9783030113032
Edition 版本: 1st ed. 2019
Released: 2019-03-20
Pages: 107 pages
Book Description
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.
Cover
1.Introduction: Lockable and Non-holonomic Joints
2.Parallel Robots with Lockable Revolute Joints
3.Spherical Non-holonomic Joints
4.Kinematics of the 3 PU Spatial Robot
5.Motion Planning for the 3PU Robot
6.Kinematics of the -2UPS Spherical Robot
7.Motion Planning for the -2UPS Robot
8.Conclusions
