AUTOCROSSCLUBGEFFEN.NL Library > Analysis > Download e-book for kindle: Advances in Robot Kinematics: Analysis and Design by Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič,

Download e-book for kindle: Advances in Robot Kinematics: Analysis and Design by Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič,

By Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)

ISBN-10: 1402085990

ISBN-13: 9781402085994

ISBN-10: 1402086008

ISBN-13: 9781402086007

This publication provides the newest learn advances within the idea, layout, keep an eye on and alertness of robotic structures, that are meant for a number of reasons similar to manipulation, production, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength keep an eye on, dexterity, inverse and ahead kinematics, kinematic singularities, in addition to over-constrained structures. tools used comprise line geometry, quaternion algebra, screw algebra and linear algebra. those equipment are utilized to either parallel and serial multi-degree-of-freedom systems.

The ebook contains forty eight independently reviewed papers of researchers specialising in robotic kinematics. The members are the main recognized scientists during this region. The papers were subdivided into the next sections: Singularity research of parallel manipulators, layout of robots and mechanisms, movement making plans and mobility, functionality and homes of mechanisms, degree and calibration, Kinematic research and workspace.

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The proposed tool is interactive and introduces the designer to the singularity analysis performed by this method, showing all the stages along the procedure and eventually showing the solution algebraically and graphically, allowing as well the singularity verification of different robot poses. Key words: singularity, Grassmann–Cayley algebra, parallel robot, software. 1 Introduction Singularity of parallel manipulators has been thoroughly investigated using different methods, mainly including line geometry, screw theory, and Jacobian determinants analysis.

4 Conclusions The presented approach proves to be effective in determining the singularity condition for parallel manipulators with limited mobility. This approach is applied to two parallel manipulators, which singular configurations are obtained. It has been shown that the equation for the singularity (the condition for singularity) involves the screws which represent all and only passive joints of the manipulators. This geometric algebra approach provides a good geometrical insight and efficiency in dealing with robot kinematics and singularity of parallel manipulators with fewer than six degrees of freedom.

Aσ (k) σ = sgn(σ )[a˙ 1 a˙ 2 . . a˙ d−h b1 . . bh ]a˙ d−h+1 . . a˙ k , (2) σ where the sum in Eq. (2) is taken over all permutations σ of {1, 2, . . , k} such that σ (1) < σ (2) < · · · < σ (d − h) and σ (d − h + 1) < σ (d − h + 2) < · · · < σ (k). Incidences between geometric entities are obtained as extensors of step 0 (scalars). Some examples of incidences in 3D-space are the meet of four planes, the meet of two lines and the meet of a line with two planes. Three meet examples are written in GCA as follows: ˙ • Meet of four planes: abc ∧ def ∧ ghi ∧ j kl = [adef ˙ ][bghi][ cj ˙ kl].

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Advances in Robot Kinematics: Analysis and Design by Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)


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