Parallel Robots With Unconventional Joints : Kinematics and Motion Planning /: Kinematics and Motion Planning. ([2019])

• Record Type: Book
• Further Information: Note: Patrick Grosch, Federico Thomas.
• Authors: Grosch, Patrick; Thomas, F (Federico)
• Contents: 1 Introduction: lockable and non-holonomic joints.- 1.1 Motivation.- 1.2 Precursors.- 1.3 Organization of this book.- References.- 2 Parallel robots with lockable revolute joints.- 2.1 Kinematics of the 4RbRPS parallel robot.- 2.2 Maneuvers.- 2.3 Motion planning.- 2.4 Hardware implementation.- 2.5 Software implementation.- References.- 3 Spherical non-holonomic joints.- 3.1 Under-actuated parallel robots with spherical non-holonomic joints.- 3.2 Implementation of spherical non-holonomic joints.- References.- 4 Kinematics of the 3SnPU spatial robot.- 4.1 The 3SnPU robot.- 4.2 Instantaneous kinematics.- 4.3 Statics analysis.- 4.4 Singularities.- 4.5 Controllability.- 4.6 Example.- References.- 5 Motion planning for the 3SnPU robot.- 5.1 Motion planning.- 5.2 Using truncated series.- 5.3 Example.- References.- 6 Kinematics of the Sn-2UPS spherical robot.- 6.1 Kinematic model.- 6.2 Deriving a bilinear model.- 6.3 Singularities.- 6.4 A, B, and rotations in R4.- 6.5 Workspace computation.- 7 Motion planning for the Sn-2UPS robot.- 7.1 Kinematic model.- 7.2 Three-move motion planner.- 7.3 Two-move motion planner.- 7.4 Single-move motion planner.- 7.5 Example.- 7.6 Implementation.- References.- 8 Conclusions.
• Publisher Details: Cham, Switzerland : Springer Nature
• Publication Date: 2019
• Extent: 1 online resource
• Subjects: 629.892; Parallel robots; Kinematics; Motion study; TECHNOLOGY & ENGINEERING / Engineering (General); Electronic books
• Languages: English
• ISBNs: 9783030113049; 3030113043
• Related ISBNs: 9783030113032
• Notes: Note: Includes bibliographic references.; Note: Online resource; title from PDF title page (EBSCO, viewed March 26, 2019).; Note: Vendor-supplied metadata.
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