Read e-book online Advances in Robot Kinematics PDF

By Jadran Lenarčič, Oussama Khatib (eds.)

ISBN-10: 3319066978

ISBN-13: 9783319066974

ISBN-10: 3319066986

ISBN-13: 9783319066981

The issues addressed during this ebook conceal the entire variety of kinematic research, synthesis and layout and examine robot platforms owning serial, parallel and cable pushed mechanisms. The robot platforms variety from being lower than totally cellular to kinematically redundant to over constrained.

The fifty-six contributions record the most recent leads to robotic kinematics with emphasis on rising components similar to layout and keep watch over of humanoids or humanoid subsystems. The ebook is of curiosity to researchers desirous to carry their wisdom modern concerning smooth subject matters in a single of the elemental disciplines in robotics, which pertains to the basic estate of robots, the movement of mechanisms.

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The design process is typically separated into four main phases: (1) the specification of the product requirements coming from the need definition, (2) the phase of conceptual design during which concepts are proposed and evaluated, (3) the embodiement of schemes during which the concepts are developed and analyzed, and (4) the detailed design that leads to the CAD drawing and the manufacturing of prototypes. Phases (1–3) are obviously linked in order to modify/ improve the design solutions in case of feasability issues.

P n−1 τ˜ p n ]T . , τmin ≤ τ˜ l ≤ τmax , for l = 1, . . , n was discussed in [2, 6]. , wire i with τ˜ pi + n˜ i λ ≥ τmin , the tension of wires with positive particular solution will be increased (will remain unchanged if the corresponding entry of n˜ is zero). When wire k has the smallest λk = (τmax − τ˜ pk )/n˜ k among all wires with positive 44 L. Notash particular solution, the adjusted tensions will not exceed the limit for any values of λ as long as 0 < λdw = τmin + τ˜ pi τmax − τ˜ pk ≤ λ ≤ λk = n˜ i n˜ k for n˜ i > 0 and n˜ k > 0 (4) When more than one wire has negative tension, in Eq.

The proposed architecture has two actuators on the base and the third one adjacent to the base. Also, it can be manufactured from a single sheet since it can be deployed on a plane and contains only revolute (R) pairs. 2 Single-Loop RU-RRRS Figure 1 shows a particular RU-RRRS1 architecture at a flattened configuration, where the U joint and the S pair are obtained through R pairs in series with orthogonal and intersecting axes. , non-actuated) R pair of the RRRS subchain has. Moreover, if the actuated R pair with horizontal axis is not locked, a third folding possibility arises since finite rotations around the horizontal dashdot line are allowed.

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Advances in Robot Kinematics by Jadran Lenarčič, Oussama Khatib (eds.)


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