By Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)
This publication offers the newest examine advances within the conception, layout, keep an eye on and alertness of robotic platforms, that are meant for numerous reasons akin to manipulation, production, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength keep watch over, dexterity, inverse and ahead kinematics, kinematic singularities, in addition to over-constrained platforms. equipment used contain line geometry, quaternion algebra, screw algebra and linear algebra. those tools are utilized to either parallel and serial multi-degree-of-freedom systems.
The e-book contains forty eight independently reviewed papers of researchers specialising in robotic kinematics. The participants are the main known scientists during this region. The papers were subdivided into the subsequent sections: Singularity research of parallel manipulators, layout of robots and mechanisms, movement making plans and mobility, functionality and houses of mechanisms, degree and calibration, Kinematic research and workspace.
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Additional info for Advances in Robot Kinematics: Analysis and Design
Considering that the base is an equilateral triangle, we can prove using the property of inscribed angles in the circumcircle A that Eq. (7) means lines A1 B1 and A2 B2 intersect at a common point, denoted by C, on the circumcircle A. From Eq. (31), we obtain that A3 B3 should be parallel to one and only one of the two angle bisectors of the angles formed by lines A1 B1 and A2 B2 . Using again the property of inscribed angles, we obtain that A3 B3 passes through C. Therefore, if Eqs. (7) and (31) are satisﬁed, all the lines Ai Bi intersect at a common point, C, on the circumcircle A, and if the common point coincide with Ai , then line Ai Bi must be tangent to the circumcircle A.
496–502. fr Abstract. This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann–Cayley algebra. 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.
Zamora-Esquivel, J. and Bayro-Corrochano, E. (2006), Kinematics and grasping using conformal geometric algebra, in Advances in Robot Kinematics, Mechanism and Motion, Lenarˇciˇc, J. and Roth, B. (Eds), Springer, Dordrecht, the Netherlands, pp. 473–480. A. M. (2002), Constraint singularities of parallel mechanisms, in Proceedings International Conference on Robotics and Automation, ICRA ’02, IEEE, Vol. 1, pp. 496–502. fr Abstract. This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots.
Advances in Robot Kinematics: Analysis and Design by Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)