Parallel manipulators of robots : theory and applications /: theory and applications. (2020)
- Record Type:
- Book
- Title:
- Parallel manipulators of robots : theory and applications /: theory and applications. (2020)
- Main Title:
- Parallel manipulators of robots : theory and applications
- Further Information:
- Note: Korganbay Sagnayevich Sholanov.
- Other Names:
- Sholanov, Korganbay Sagnayevich
- Contents:
- Intro -- Introduction -- Contents -- Part ISynthesis of Architecture of Robot One-Loop and Multiloop Manipulators -- 1 Synthesis of Robot One-Loop Multi-Degree-of-Freedom Manipulators -- 1.1 Systematization of Robot Manipulators Design -- 1.2 Synthesis of Robot One-Loop Manipulators -- 2 Synthesis of Robot Multiloop Manipulators -- 2.1 Rationale for the Possibility of Using Methods of Combinatorial Topology to Modeling the Mechanisms and Manipulators Design -- 2.1.1 The Basic Concepts of the Combinatorial Topology -- 2.1.2 Rationale for the Use of Combinatorial Topology Methods 2.2 Construction of a Topological Model of Two Interconnected Bodies -- 2.2.1 Binary Relations Between the Vertices -- 2.2.2 Combinatorial Sum of Simplexes -- 2.2.3 Construction of Simplicial Complex of a Kinematic Pair -- 2.3 Synthesis of the Structure of the Multiloop Parallel Robot Manipulator -- 2.3.1 Comparative Analysis of the STEWART-GOUHG and SHOLKOR Platforms -- Part IIAnalysis of the Design of Robot Parallel Manipulators -- 3 Determination of the Number of Degrees-of-Freedom of Mechanisms Using Reference System Imaging -- 3.1 State of the Theory of Closed Mechanisms Design Analysis 3.2 Reference System and Transformation Matrix Parameters -- 3.3 Binding of the Reference Systems to the Links -- 3.4 Transformation of the Coordinate Systems Related to the Links -- 3.5 Analysis of the Transformation Parameters -- 3.6 Rationale for the Method of Determining the Number of Dependent Constraints --Intro -- Introduction -- Contents -- Part ISynthesis of Architecture of Robot One-Loop and Multiloop Manipulators -- 1 Synthesis of Robot One-Loop Multi-Degree-of-Freedom Manipulators -- 1.1 Systematization of Robot Manipulators Design -- 1.2 Synthesis of Robot One-Loop Manipulators -- 2 Synthesis of Robot Multiloop Manipulators -- 2.1 Rationale for the Possibility of Using Methods of Combinatorial Topology to Modeling the Mechanisms and Manipulators Design -- 2.1.1 The Basic Concepts of the Combinatorial Topology -- 2.1.2 Rationale for the Use of Combinatorial Topology Methods 2.2 Construction of a Topological Model of Two Interconnected Bodies -- 2.2.1 Binary Relations Between the Vertices -- 2.2.2 Combinatorial Sum of Simplexes -- 2.2.3 Construction of Simplicial Complex of a Kinematic Pair -- 2.3 Synthesis of the Structure of the Multiloop Parallel Robot Manipulator -- 2.3.1 Comparative Analysis of the STEWART-GOUHG and SHOLKOR Platforms -- Part IIAnalysis of the Design of Robot Parallel Manipulators -- 3 Determination of the Number of Degrees-of-Freedom of Mechanisms Using Reference System Imaging -- 3.1 State of the Theory of Closed Mechanisms Design Analysis 3.2 Reference System and Transformation Matrix Parameters -- 3.3 Binding of the Reference Systems to the Links -- 3.4 Transformation of the Coordinate Systems Related to the Links -- 3.5 Analysis of the Transformation Parameters -- 3.6 Rationale for the Method of Determining the Number of Dependent Constraints -- 3.7 Derivation of the Equation for Determining the Degree-of-Freedom Considering Dependent Constraints -- 3.8 Sequence of the Mechanism Design Analysis Using the Zero Parameters -- 3.9 Examples of the Mechanism and Manipulator Design Analysis -- 3.10 Construction of Rational Mechanisms 4 Analytical Description of the Links of Spatial Mechanisms and Manipulators by Redundant Parameters Method -- 4.1 Construction of Mathematical Models of Mechanisms -- 4.2 Selection of the Coordinate Systems for the Transformation by eight Parameters -- 4.3 Peculiarities of the Selection of the Coordinate Systems -- 4.4 Sequence of the Coordinate Systems' Transformation -- 4.5 Examples of Redundant Parameters' Method Application -- Part IIIKinematics and Dynamics of One-Loop and Multiloop Parallel Manipulators -- 5 Kinematics of One-Loop Parallel Manipulators 5.1 Homogeneous Transformation Matrices for Core Functional Groups -- 5.2 Direct Position Problem for the CFG -- 5.3 Inverse Position Problem for the CFG -- 5.4 Solution of the Direct Position Problem for the OPM -- 5.5 Velocities, Accelerations of the Points and Angular Velocities, Angular Accelerations of the Links -- 5.5.1 Vector Method of Determining the Kinematic Parameters of the Manipulator Links -- 5.5.2 Kinematic Parameters in the Link Coordinate System -- 5.5.3 Kinematic Parameters of the Connecting Link and the Gripper … (more)
- Publisher Details:
- Cham : Springer
- Publication Date:
- 2020
- Copyright Date:
- 2021
- Extent:
- 1 online resource (164 pages)
- Subjects:
- 629.8/92
Robots
Manipulators (Mechanism)
Manipulators (Mechanism)
Robots
Electronic books
Electronic books - Languages:
- English
- ISBNs:
- 9783030560737
- Related ISBNs:
- 9783030560720
- 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.
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- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library HMNTS - ELD.DS.551846
- Ingest File:
- 03_170.xml