By Gang Shen, Yukio Takeda, Hiroaki Funabashi (auth.), J. Lenarčič, F. Thomas (eds.)
This is the 5th booklet of the Kluwer's sequence Advances in robotic Kine matics. The ebook offers the latest study advances within the idea, layout, keep an eye on and alertness of robot platforms, that are meant for various reasons reminiscent of manipulation, manufactur ing, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength regulate, dexterity, inverse and ahead kinematics, kinematic singularities, in addition to over-constrained structures. equipment used comprise line geometry, quaternion algebra, screw alge bra, and linear algebra. those equipment are utilized to either parallel and serial multi-degree-of-freedom platforms. the implications should still curiosity researchers, academics and scholars, in fields of engineering and mathe matics on the topic of robotic idea, layout, keep watch over and alertness. every one contribution during this e-book have been carefully reviewed through or 3 self sustaining reviewers and fifty three articles were advised for book. we're chuffed to monitor that Advances in robotic Kine matics has constantly attracted the main extraordinary authors and has de veloped a awesome clinical neighborhood within the zone. Many very important and unique clinical effects have been for the 1st time suggested and dis stubborn in those books. All articles during this ebook have been additionally mentioned on the 8 foreign symposium on Advances in robotic Kinematics that used to be organised in June 2002 in Caldes de Malavella in Spain.
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Additional info for Advances in Robot Kinematics: Theory and Applications
However, they have some disadvantages, such as complex forward kinematics, small workspace, and complicated universal and spherical joints_ To overcome these shortcomings, parallel manipulators with fewer than six DOF have been investigated_ For example, Lee and Shah (1987) analyzed a 3-DOF parallel manipulator with three RPS (revoluteprismatic-spherical) chains. Several other novel 3-DOF parallel manipulators have been developed (Pierrot et al. 1990, and Wenger and Chablat 2000)_ However, most of these manipulators have coupled motion between the position and orientation of the end effector.
Tsai, L. , 1996b, "Kinematics of a Three-DOF Platform Manipulator with Three Extensible Limbs," in Recent Advances in Robot Kinematics, Edited by J. Lenarcic and V. Parenti-Castelli, Kluwer Academic Publishers, London, pp. 401-410. Tsai, L. S. Patent, No. 5,656,905. Tsai, L. W. 4, pp. 439-446. Tsai, L. , 2000, Mechanism Design: Enumeration of Kinematic Structures According to Function, CRC Press, Boca Raton, FL. Wenger, P. , 2000, ''Kinematic Analysis of a New Parallel Machine Tool: The Orthoglide," in Advances in Robot Kinematics, Edited by J.
1jJ sm 0 sm 1jJ q 19 cos 0 sin 1jJ + ~ sin 0 cos 1jJ -OsinO Substituting W, J w , and J w in the right-hand side of Eq. 20, after some algebraic manipulations, one obtains jw + OJw = 0 ~ cos 0 sin 1jJ [ 0 ~ co~ 0 cos 1jJ o -¢sinO 1 ~ sin 0 cos 1jJ - 19 sin 1jJ -~ sin 0 sin 1jJ - 19 cos 1jJ 0 which apparently is the partial derivative of W with respect to q, thereby con0 firming the validity ofEq. 20. Using the above theorem, one can readily show that, in the inertial frame, a similar relation holds, the only difference being the sign between the two right-hand-side terms ofEq.
Advances in Robot Kinematics: Theory and Applications by Gang Shen, Yukio Takeda, Hiroaki Funabashi (auth.), J. Lenarčič, F. Thomas (eds.)