Ebook: Parallel Robots

Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).

---

Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).

---

Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Content:
Front Matter....Pages i-xv
Introduction....Pages 1-13
Architectures....Pages 15-63
Jacobian and inverse kinematics....Pages 65-89
Direct kinematics....Pages 91-147
Singular configurations....Pages 149-182
Workspace....Pages 183-231
Velocity and Acceleration....Pages 233-245
Static analysis....Pages 247-267
Dynamics....Pages 269-281
Design....Pages 283-300
Conclusion....Pages 301-303
Back Matter....Pages 305-362

---

Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Content:
Front Matter....Pages i-xv
Introduction....Pages 1-13
Architectures....Pages 15-63
Jacobian and inverse kinematics....Pages 65-89
Direct kinematics....Pages 91-147
Singular configurations....Pages 149-182
Workspace....Pages 183-231
Velocity and Acceleration....Pages 233-245
Static analysis....Pages 247-267
Dynamics....Pages 269-281
Design....Pages 283-300
Conclusion....Pages 301-303
Back Matter....Pages 305-362
....