By Ulrike Thomas, Friedrich M. Wahl (auth.), Daniel Schütz, Friedrich M. Wahl (eds.)

ISBN-10: 3642167845

ISBN-13: 9783642167843

ISBN-10: 3642167853

ISBN-13: 9783642167850

Although parallel robots are recognized to provide many merits with admire to accuracy, dynamics, and stiffness, significant breakthroughs in business functions haven't but taken position. this can be because of a data hole fighting quickly and detailed execution of commercial dealing with and meeting initiatives. This booklet specializes in the layout, modeling, and keep an eye on of leading edge parallel constructions in addition to the mixing of novel computer components. exact awareness is paid to the mixing of lively elements into light-weight hyperlinks and passive joints. furthermore, new keep watch over ideas are brought to reduce structural vibrations. even though the optimization of robotic structures itself permits a discount of cycle instances, those may be additional diminished through more desirable direction making plans, robotic programming, and automatic meeting making plans thoughts defined through 25 contributions inside of this publication. The content material of this quantity is subdivided into 4 major elements facing Modeling and Design, System Implementation, Control and Programming as good as Adaptronics and Components.

This e-book is aimed toward researchers and postgraduates operating within the box of parallel robots in addition to training engineers facing commercial robotic improvement and robot purposes.

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In this case, evolutionary algorithms are very effective to search for the global optima without any knowledge about the optimization problem itself. In contrast to some authors who used a weighted cost function as one criterion, our approach is a Pareto based multi criteria evolutionary algorithm. From our point of view, a combination of all performance criteria weighted with different priority factors does not have any physical meaning. Based on a strength Pareto evolutionary algorithm approach (SPEA) of Zitzler [34], we have developed a modified algorithm with effective selection routines including an intelligent mutation which covers stagnancy of the optimization, dynamic extension of the parameter range and new termination methods.

This is the case for all the investigated structures of the SFB 562. To describe all parts of a mechanical system appropriately, different coordinate systems have to be introduced. The number of unknown parameters can be significantly reduced if relative coordinates between body fixed reference systems are used. The mechanical structure of the robot has to be described as tree structure. Each single rigid component is a node in this tree, and the edges are given by the joints between the components.

Thus, the application £ is the sum of all points X where the properties P of the parallel workspace Wtask i i robot fullfil the fixed application requirements Ri . As mentioned above, the necessary orientation ability of the working platform in each point is also modeled as a constraint. 2 Velocity Transmission The kinematic and dynamic analysis of parallel robots is strongly associated with the linear transmission of the drive velocities by the Jacobian matrix Ja : ˙ X Ja q˙ (4) In the literature, a large number of approaches discussing this transmission behavior can be found [29, 30].

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Robotic Systems for Handling and Assembly by Ulrike Thomas, Friedrich M. Wahl (auth.), Daniel Schütz, Friedrich M. Wahl (eds.)


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