Balancing of linkages and robot manipulators : advanced methods with illustrative examples /: advanced methods with illustrative examples. ([2015])

• Record Type: Book
• Further Information: Note: Vigen Arakelian, Sébastien Briot.
• Authors: Arakelian, Vigen; Briot, Sébastien
• Contents: Part I Introduction to balancing -- 1 Introduction -- 2 An overview of balancing methods -- 2.1 Shaking force and shaking moment balancing of linkages -- 2.2 Shaking force and shaking moment balancing of robots and manipulators -- 2.3 Gravity balancing in robotics -- Part II Balancing of Linkages -- 3 Partial shaking force and shaking moment balancing of linkages -- 3.1 Shaking moment minimization of fully force-balanced planar linkages by displacing one counterweight -- 3.2 Shaking moment minimization of fully force-balanced planar linkages by displacing several counterweights -- 3.3 Shaking moment minimization of fully force-balanced spatial linkages -- 3.4 An approximate method of calculating a counterweight for the optimum shaking force and shaking moment balancing of linkages -- 4 Complete shaking force and shaking moment balancing of linkages -- 4.1 Complete shaking force and shaking moment balancing of in-line four-bar linkages by adding a class-two RRR or RRP Assur group -- 4.2 Complete shaking force and shaking moment balancing of planar linkages by adding the articulated dyads -- 4.3 Complete shaking force and shaking moment balancing of RSS?R spatial linkages -- 4.4 Design of self-balanced mechanical systems -- 5 Balancing of slider-crank mechanisms -- 5.1 Generalized Lanchester balancer -- 5.2 Balancing via the properties of the Watt gear-slider mechanism -- 5.3 Shaking moment cancellation of self-balanced slider-crank mechanical systems by means of optimum mass redistribution -- 5.4 Simultaneous inertia force/moment balancing and torque compensation of slider-crank mechanisms -- 5.5 Shaking force and shaking moment balancing of slider-crank mechanisms via optimal generation of the input crank rotation -- Part III Balancing of Robot Manipulators -- 6 Balancing of manipulators by using the copying properties of pantograph mechanisms -- 6.1 Design of balancing mechanisms for spatial parallel manipulators: application to the Delta robot -- 6.2 Design of self-balanced parallel manipulators: PAMINSA with four dof -- 6.3 Design and balancing of hand-operated manipulators -- 7 Shaking force and shaking moment balancing of robot manipulators -- 7.1 Complete shaking force and shaking moment balancing of 3-dof 3-RRR parallel manipulators -- 7.2 Complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs -- 7.3 Shaking force minimization of high-speed robots via centre of mass acceleration control -- 7.4 Balancing of robot manipulators via optimal motion control -- 8 Gravitational force balancing of robotic systems -- 8.1 Balancing of pantograph mechanisms -- 8.2 Optimal balancing of the parallel robot for medical 3D-ultrasound imagining -- 8.3 Improvement of balancing accuracy of robot-manipulators taking into account the spring mass -- 8.4 Optimal balancing of serial manipulators with decoupled dynamics -- References.
• Publisher Details: Cham : Springer
• Publication Date: 2015
• Copyright Date: 2015
• Extent: 1 online resource, illustrations
• Subjects: 629.8933; Engineering; Balancing of machinery; Manipulators (Mechanism); Robots -- Control systems; TECHNOLOGY & ENGINEERING -- Engineering (General); Balancing of machinery; Manipulators (Mechanism); Robots -- Control systems; Civil & Environmental Engineering; Engineering & Applied Sciences; Civil Engineering; Engineering; Machinery and Machine Elements; Control, Robotics, Mechatronics; Vibration, Dynamical Systems, Control; Technology & Engineering -- Automation; Technology & Engineering -- Mechanical; Automatic control engineering; Dynamics & vibration; Vibration; Technology & Engineering -- Machinery; Engines & power transmission; Electronic books
• Languages: English
• ISBNs: 9783319124902; 3319124900; 3319124897; 9783319124896
• Related ISBNs: 9783319124896
• Notes: Note: Includes bibliographical references.; Note: Online resource; title from PDF title page (EBSCO, viewed January 30, 2015).
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.