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Books > Professional & Technical > Energy technology & engineering > Electrical engineering > Power generation & distribution
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Parallel Robots - Mechanics and Control (Paperback)
Loot Price: R2,709
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Parallel Robots - Mechanics and Control (Paperback)
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Parallel structures are more effective than serial ones for
industrial automation applications that require high precision and
stiffness, or a high load capacity relative to robot weight.
Although many industrial applications have adopted parallel
structures for their design, few textbooks introduce the analysis
of such robots in terms of dynamics and control. Filling this gap,
Parallel Robots: Mechanics and Control presents a systematic
approach to analyze the kinematics, dynamics, and control of
parallel robots. It brings together analysis and design tools for
engineers and researchers who want to design and implement parallel
structures in industry. Covers Kinematics, Dynamics, and Control in
One Volume The book begins with the representation of motion of
robots and the kinematic analysis of parallel manipulators. Moving
beyond static positioning, it then examines a systematic approach
to performing Jacobian analysis. A special feature of the book is
its detailed coverage of the dynamics and control of parallel
manipulators. The text examines dynamic analysis using the
Newton-Euler method, the principle of virtual work, and the
Lagrange formulations. Finally, the book elaborates on the control
of parallel robots, considering both motion and force control. It
introduces various model-free and model-based controllers and
develops robust and adaptive control schemes. It also addresses
redundancy resolution schemes in detail. Analysis and Design Tools
to Help You Create Parallel Robots In each chapter, the author
revisits the same case studies to show how the techniques may be
applied. The case studies include a planar cable-driven parallel
robot, part of a promising new generation of parallel structures
that will allow for larger workspaces. The MATLAB (R) code used for
analysis and simulation is available online. Combining the analysis
of kinematics and dynamics with methods of designing controllers,
this text offers a holistic introduction for anyone interested in
designing and implementing parallel robots.
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