Parallel robots are closed-loop mechanisms presenting very good
performances in terms of accuracy, velocity, rigidity and ability
to manipulate large loads. They 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 150 exercises and numerous internet addresses),
researchers (with over 650 references and anonymous ftp access to
the code of some algorithms presented in this book) and engineers
(for which practical results, mistakes to avoid, and applications
are presented).
Since the publication of the first edition (2000) there has been
an impressive increase in terms of study and use of this kind of
structure that are reported in this book. This second edition has
been completely overhauled. The initial chapter on kinematics has
been split into Inverse Kinematics and Direct Kinematics. A new
chapter on calibration was added. The other chapters have also been
rewritten to a large extent. The reference section has been updated
to include around 45% new works that appeared after the first
edition.
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