New Frontiers in Parallel Robots
The parallel robot, a kind of robot that utilizes multiple closed-loop branch chains jointly connecting and driving the moving platform, is an important part of modern robotics, with outstanding advantages of high stiffness, high precision and high speed. Parallel robots can efficiently change perfo...
Saved in:
| Format: | Online |
|---|---|
| Language: | English |
| Published: |
MDPI - Multidisciplinary Digital Publishing Institute
2023
|
| Subjects: | |
| Online Access: | ONIX_20230808_9783036572529_9 |
| Tags: |
No Tags, Be the first to tag this record!
|
| _version_ | 1869517671772454912 |
|---|---|
| collection | Directory of Open Access Books |
| description | The parallel robot, a kind of robot that utilizes multiple closed-loop branch chains jointly connecting and driving the moving platform, is an important part of modern robotics, with outstanding advantages of high stiffness, high precision and high speed. Parallel robots can efficiently change performance through the configuration of synthesis and design. The rich variety of configurations and the existence of a large number of passive joints also brought abundant challenges and research topics to the modeling, optimization, calibration and trajectory planning of parallel robots. This reprint focuses on the research frontiers of parallel robots from fundamental theory to application technology. Special attention is paid to kinematics/dynamics modeling, error modeling and calibration, impedance control and the machining stability of parallel robots. Notably, a considerable portion of the book focuses on cable-driven parallel robots (CDPRs) that integrate cable-driven kinematic chains and parallel mechanism theory. CDPRs inherit the high dynamics and heavy load capacities of parallel robots and significantly improve the workspace, cost and energy efficiency simultaneously, following the cutting-edge trend of rigid–flexible fusion. |
| format | Online |
| id | doab-20.500.12854ir-112441 |
| institution | Directory of Open Access Books |
| language | eng |
| publishDate | 2023 |
| publishDateRange | 2023 |
| publishDateSort | 2023 |
| publisher | MDPI - Multidisciplinary Digital Publishing Institute |
| publisherStr | MDPI - Multidisciplinary Digital Publishing Institute |
| record_format | ojs |
| spelling | doab-20.500.12854ir-1124412024-03-30T12:51:04Z New Frontiers in Parallel Robots Shao, Zhufeng Zhang, Dan Caro, Stéphane parallel kinematic machine tool over-constrained system elasto-dynamic model screw theory PKM helical milling cutting stability surface quality process optimization kinematic calibration parallel robot parameter estimation error model pose accuracy cable-driven parallel robot kinematics dynamics workspace cable-driven parallel manipulator (CDPM) high-speed manipulator large-span structure structural optimization genetic algorithm (GA) ideal-point method impedance control fractional calculus half-order derivative parallel kinematics machine KDHD Stewart platform cable–based parallel robot gangue sorting robot pick–and–place operations trajectory planning tracking control robustness singularity analysis geometric optimization single-incision laparoscopic surgery static equilibrium workspace under-constrained cable-driven robot consistent solution strategy 2UPR-RPU parallel manipulator over-constrained parallel manipulator geometric error deformation sensitivity analysis n/a thema EDItEUR::K Economics, Finance, Business and Management::KN Industry and industrial studies::KNT Media, entertainment, information and communication industries::KNTX Information technology industries The parallel robot, a kind of robot that utilizes multiple closed-loop branch chains jointly connecting and driving the moving platform, is an important part of modern robotics, with outstanding advantages of high stiffness, high precision and high speed. Parallel robots can efficiently change performance through the configuration of synthesis and design. The rich variety of configurations and the existence of a large number of passive joints also brought abundant challenges and research topics to the modeling, optimization, calibration and trajectory planning of parallel robots. This reprint focuses on the research frontiers of parallel robots from fundamental theory to application technology. Special attention is paid to kinematics/dynamics modeling, error modeling and calibration, impedance control and the machining stability of parallel robots. Notably, a considerable portion of the book focuses on cable-driven parallel robots (CDPRs) that integrate cable-driven kinematic chains and parallel mechanism theory. CDPRs inherit the high dynamics and heavy load capacities of parallel robots and significantly improve the workspace, cost and energy efficiency simultaneously, following the cutting-edge trend of rigid–flexible fusion. 2023-08-08T15:11:25Z 2023-08-08T15:11:25Z 2023 book ONIX_20230808_9783036572529_9 9783036572529 9783036572536 https://directory.doabooks.org/handle/20.500.12854/112441 eng image/jpeg Attribution 4.0 International https://mdpi.com/books/pdfview/book/7554 https://mdpi.com/books/pdfview/book/7554 MDPI - Multidisciplinary Digital Publishing Institute 10.3390/books978-3-0365-7253-6 10.3390/books978-3-0365-7253-6 46cabcaa-dd94-4bfe-87b4-55023c1b36d0 9783036572529 9783036572536 240 Basel open access |
| spellingShingle | parallel kinematic machine tool over-constrained system elasto-dynamic model screw theory PKM helical milling cutting stability surface quality process optimization kinematic calibration parallel robot parameter estimation error model pose accuracy cable-driven parallel robot kinematics dynamics workspace cable-driven parallel manipulator (CDPM) high-speed manipulator large-span structure structural optimization genetic algorithm (GA) ideal-point method impedance control fractional calculus half-order derivative parallel kinematics machine KDHD Stewart platform cable–based parallel robot gangue sorting robot pick–and–place operations trajectory planning tracking control robustness singularity analysis geometric optimization single-incision laparoscopic surgery static equilibrium workspace under-constrained cable-driven robot consistent solution strategy 2UPR-RPU parallel manipulator over-constrained parallel manipulator geometric error deformation sensitivity analysis n/a thema EDItEUR::K Economics, Finance, Business and Management::KN Industry and industrial studies::KNT Media, entertainment, information and communication industries::KNTX Information technology industries New Frontiers in Parallel Robots |
| title | New Frontiers in Parallel Robots |
| title_full | New Frontiers in Parallel Robots |
| title_fullStr | New Frontiers in Parallel Robots |
| title_full_unstemmed | New Frontiers in Parallel Robots |
| title_short | New Frontiers in Parallel Robots |
| title_sort | new frontiers in parallel robots |
| topic | parallel kinematic machine tool over-constrained system elasto-dynamic model screw theory PKM helical milling cutting stability surface quality process optimization kinematic calibration parallel robot parameter estimation error model pose accuracy cable-driven parallel robot kinematics dynamics workspace cable-driven parallel manipulator (CDPM) high-speed manipulator large-span structure structural optimization genetic algorithm (GA) ideal-point method impedance control fractional calculus half-order derivative parallel kinematics machine KDHD Stewart platform cable–based parallel robot gangue sorting robot pick–and–place operations trajectory planning tracking control robustness singularity analysis geometric optimization single-incision laparoscopic surgery static equilibrium workspace under-constrained cable-driven robot consistent solution strategy 2UPR-RPU parallel manipulator over-constrained parallel manipulator geometric error deformation sensitivity analysis n/a thema EDItEUR::K Economics, Finance, Business and Management::KN Industry and industrial studies::KNT Media, entertainment, information and communication industries::KNTX Information technology industries |
| topic_facet | parallel kinematic machine tool over-constrained system elasto-dynamic model screw theory PKM helical milling cutting stability surface quality process optimization kinematic calibration parallel robot parameter estimation error model pose accuracy cable-driven parallel robot kinematics dynamics workspace cable-driven parallel manipulator (CDPM) high-speed manipulator large-span structure structural optimization genetic algorithm (GA) ideal-point method impedance control fractional calculus half-order derivative parallel kinematics machine KDHD Stewart platform cable–based parallel robot gangue sorting robot pick–and–place operations trajectory planning tracking control robustness singularity analysis geometric optimization single-incision laparoscopic surgery static equilibrium workspace under-constrained cable-driven robot consistent solution strategy 2UPR-RPU parallel manipulator over-constrained parallel manipulator geometric error deformation sensitivity analysis n/a thema EDItEUR::K Economics, Finance, Business and Management::KN Industry and industrial studies::KNT Media, entertainment, information and communication industries::KNTX Information technology industries |
| url | ONIX_20230808_9783036572529_9 |