Contribution A Letude Des Robots Pleinement Paralleles De Type 6 R Rr S PDF Download
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Author | : J.-P. Merlet |
Publisher | : Springer Science & Business Media |
Total Pages | : 367 |
Release | : 2012-12-06 |
Genre | : Technology & Engineering |
ISBN | : 9401095876 |
Download Parallel Robots Book in PDF, ePub and Kindle
Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots 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 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Author | : Jadran Lenarčič |
Publisher | : Springer Science & Business Media |
Total Pages | : 510 |
Release | : 2004-06-09 |
Genre | : Technology & Engineering |
ISBN | : 9781402022487 |
Download On Advances in Robot Kinematics Book in PDF, ePub and Kindle
In the last decade, we have seen an extraordinary progress in the the ory and applications of robot kinematics. This has been motivated espe cially by the development of complex parallel and humanoid robots. The present book reports the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automa tion, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, re dundancy, force control, dexterity, inverse and forward kinematics, kine matic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear alge bra. These methods are applied to both parallel and serial multi-degree of-freedom systems. The results should interest researchers, teachers and students, in fields of engineering and mathematics related to robot theory, design, control and application. This is the sixth book of the series Advances in Robot Kinematics published by Kluwer. The contributions in this book had been rigorously reviewed by in dependent reviewers and fifty one articles had been recommended for publication. They were introduced in seven chapters. These articles were also reported and discussed at the ninth international symposium on Advances in Robot Kinematics which was held in June 2004 in Sestri Levante in Italy. Indexed in Conference Proceedings Citation Index- Science (CPCI-S)
Author | : Romulus Benea |
Publisher | : |
Total Pages | : 178 |
Release | : 1996 |
Genre | : |
ISBN | : |
Download Contribution à l'étude des robots pleinement parallèles de type 6 R-RR-S Book in PDF, ePub and Kindle
Un regard sur la robotique contemporaine a permis de remarquer l'apparition de premiers robots parallèles sur le marché. Une étude comparative robots série/robots parallèles permet d'envisager une extension de leur utilisation pour des taches variées dans le milieu industriel, notamment pour des charges lourdes, assurant en même temps une bonne précision et un bon comportement dynamique. Apres avoir présenté des critères de classification de robots parallèles, on a passé en revue plusieurs schémas et prototypes de manipulateurs classés à partir du nombre de degrés de liberté. Le prototype 6-RKS réalisé au LMeca dispose d'une architecture particulière et appartient a la famille des manipulateurs de type 6 R-RR-S. Une méthode numérique de discrétisation a été utilisée afin de déterminer l'espace de travail des positions à orientation constante et en orientation pour le centre du plateau mobile fixe. Les algorithmes développés peuvent être utilisés pour tout manipulateur parallèle. Une certaine cartographie a été réalisée et on a pu remarquer que l'espace de travail, tant en position qu'en orientation, est plus important que pour des manipulateurs à actionneurs linéaires de gabarit comparable. On a proposé une représentation pseudo-sphérique de l'espace de travail en orientation, ou les 3 paramètres d'orientation sont réunis sur une même image. On a établi le modèle cinématique et calculé les matrices jacobiennes inverses. On a présenté deux approches sur les singularités: la détermination des singularités de configuration qui sont de deux types et correspondent à une architecture donnée et l'étude des singularités d'architecture. L'étude statique a montré à nouveau la nécessité du calcul de la matrice jacobienne. On a déterminé pour une configuration donnée les matrices de raideur et de compliance, ainsi que les couples articulaires et les charges externes maximales. Un modèle dynamique pour structures pleinement parallèles, basé sur le formalisme de Newton-Euler a été proposé. Cette approche est applicable à toute structure pleinement parallèle, sa simplicité permet un calcul récurent aisé et se ramène a un système linéaire de 6 équations à 6 inconnues. Il a été appliqué au manipulateur 6-RKS et on a réalisé une simulation dynamique pour plusieurs trajectoires.
Author | : Lihui Wang |
Publisher | : Springer Science & Business Media |
Total Pages | : 401 |
Release | : 2008-02-28 |
Genre | : Technology & Engineering |
ISBN | : 1848001479 |
Download Smart Devices and Machines for Advanced Manufacturing Book in PDF, ePub and Kindle
This book presents a collection of quality chapters on the state-of-the-art of research efforts in the area of smart devices and novel machine design, as well as their practical applications to enable advanced manufacturing. The first section presents a broad-based review of several key areas of research in smart devices and machines. The second section is focused on presenting an in-depth treatment of a particular device or machine. The book will be of interest to a broad readership.
Author | : J.P. Merlet |
Publisher | : Springer |
Total Pages | : 392 |
Release | : 2000-07-31 |
Genre | : Computers |
ISBN | : |
Download Parallel Robots Book in PDF, ePub and Kindle
Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots 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 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Author | : |
Publisher | : |
Total Pages | : 792 |
Release | : 2000 |
Genre | : Technology & Engineering |
ISBN | : 9780791835173 |
Download 26th Biennial Mechanisms and Robotics Conference Book in PDF, ePub and Kindle
Author | : W. Khalil |
Publisher | : Butterworth-Heinemann |
Total Pages | : 503 |
Release | : 2004-07-01 |
Genre | : Computers |
ISBN | : 0080536611 |
Download Modeling, Identification and Control of Robots Book in PDF, ePub and Kindle
Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. · World class authority· Unique range of coverage not available in any other book· Provides a complete course on robotic control at an undergraduate and graduate level
Author | : Riva Castleman |
Publisher | : ABRAMS |
Total Pages | : 0 |
Release | : 1997-09 |
Genre | : |
ISBN | : 9780810961814 |
Download A Century of Artists Books Book in PDF, ePub and Kindle
Published to accompany the 1994 exhibition at The Museum of Modern Art, New York, this book constitutes the most extensive survey of modern illustrated books to be offered in many years. Work by artists from Pierre Bonnard to Barbara Kruger and writers from Guillaume Apollinarie to Susan Sontag. An importnt reference for collectors and connoisseurs. Includes notable works by Marc Chagall, Henri Matisse, and Pablo Picasso.
Author | : Pascal Le Masson |
Publisher | : Springer |
Total Pages | : 390 |
Release | : 2017-04-06 |
Genre | : Technology & Engineering |
ISBN | : 3319502778 |
Download Design Theory Book in PDF, ePub and Kindle
This textbook presents the core of recent advances in design theory and its implications for design methods and design organization. Providing a unified perspective on different design methods and approaches, from the most classic (systematic design) to the most advanced (C-K theory), it offers a unique and integrated presentation of traditional and contemporary theories in the field. Examining the principles of each theory, this guide utilizes numerous real life industrial applications, with clear links to engineering design, industrial design, management, economics, psychology and creativity. Containing a section of exams with detailed answers, it is useful for courses in design theory, engineering design and advanced innovation management. "Students and professors, practitioners and researchers in diverse disciplines, interested in design, will find in this book a rich and vital source for studying fundamental design methods and tools as well as the most advanced design theories that work in practice". Professor Yoram Reich, Tel Aviv University, Editor-in-Chief, Research In Engineering Design. "Twenty years of research in design theory and engineering have shown that training in creative design is indeed possible and offers remarkably operational methods - this book is indispensable for all leaders and practitioners who wish to strengthen theinnovation capacity of their company." Pascal Daloz, Executive Vice President, Dassault Systèmes
Author | : Nicholas Ayache |
Publisher | : Springer |
Total Pages | : 645 |
Release | : 2012-08-28 |
Genre | : Computers |
ISBN | : 9783642334535 |
Download Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2012 Book in PDF, ePub and Kindle
The three-volume set LNCS 7510, 7511, and 7512 constitutes the refereed proceedings of the 15th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2012, held in Nice, France, in October 2012. Based on rigorous peer reviews, the program committee carefully selected 252 revised papers from 781 submissions for presentation in three volumes. The third volume includes 79 papers organized in topical sections on diffusion imaging: from acquisition to tractography; image acquisition, segmentation and recognition; image registration; neuroimage analysis; analysis of microscopic and optical images; image segmentation; diffusion weighted imaging; computer-aided diagnosis and planning; and microscopic image analysis.