Parallel Robots With Unconventional - E-book

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Parallel Robots With Unconventional Joints - ENG

Kinematics And Motion Planning

Patrick Grosch; Federico Thomas

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Sinopsis

ISBN:	9783030113049
Formato:	ePub
Idioma:	Inglés
Editorial:	Springer Nature
Tema:	Tecnología e ingeniería
Subtema:	Maquinaria
Año de publicación:	2019-03-20

This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robots ability to bring its mobile platform to the desired configuration. The kinematics of the most representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations. Â

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