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By J. -P. Merlet (auth.)
Parallel robots are closed-loop mechanisms providing excellent performances by way of accuracy, speed, stress and talent to govern huge rather a lot. they've been utilized in a good number of purposes starting from astronomy to flight simulators and have gotten more and more well known within the box of machine-tool undefined. This e-book offers an entire synthesis of the most recent effects at the attainable mechanical architectures, research and synthesis of this sort of mechanism. it truly is meant for use by way of scholars (with over a hundred and fifty workouts and various net addresses), researchers (with over 650 references and nameless ftp entry to the code of a few algorithms awarded during this publication) and engineers (for which functional effects, error to prevent, and purposes are presented).
Since the booklet of the 1st version (2000) there was a magnificent bring up by way of research and use of this sort of constitution which are said during this publication. This moment version has been thoroughly overhauled. The preliminary bankruptcy on kinematics has been cut up into Inverse Kinematics and Direct Kinematics. a brand new bankruptcy on calibration used to be further. the opposite chapters have additionally been rewritten to a wide volume. The reference part has been up-to-date to incorporate round forty five% new works that seemed after the 1st edition.
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The mobility of the manipulator is zero when the actuators are locked. INTRODUCTION 13 This type of mechanism is interesting for the following reasons: − a minimum of two chains allows us to distribute the load on the chains − the number of actuators is minimal. − the number of sensors necessary for the closed-loop control of the mechanism is minimal. − when the actuators are locked, the manipulator remains in its position; this is an important safety aspect for certain applications, such as medical robotics.
Note that there is no chapter dealing with control per se, although this issue will be addressed in some chapters. We have focused this book on parallel robot modeling, an already very large domain, that it is necessary to master before addressing control problems. 6. 2: Show that the mobility of fully parallel spatial robots with identical chains is null when each actuator is locked. 1). f. f. and then a comprehensive enumeration of parallel robots mechanical architectures as described in current literature on the subject1 .
3. 1 Basics of screw theory The group theory approach allowed the discovery of numerous new possible structures. Nevertheless the group {D} has more special properties which are not reflected by its Lie group structure alone. Consequently the group theory approach has difficulty accounting for very special cases of mobility such as paradoxical mechanisms. We may extend the Lie group concept by considering the tangent space at the identity element, which is a vector space called the Lie algebra of the Lie group.