Parallel Robots: Mechanics and Control (Hardcover)

Hamid D. Taghirad

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商品描述

Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics and control. Filling this gap, Parallel Robots: Mechanics and Control presents a systematic approach to analyze the kinematics, dynamics, and control of parallel robots. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures in industry.

Covers Kinematics, Dynamics, and Control in One Volume

The book begins with the representation of motion of robots and the kinematic analysis of parallel manipulators. Moving beyond static positioning, it then examines a systematic approach to performing Jacobian analysis. A special feature of the book is its detailed coverage of the dynamics and control of parallel manipulators. The text examines dynamic analysis using the Newton-Euler method, the principle of virtual work, and the Lagrange formulations. Finally, the book elaborates on the control of parallel robots, considering both motion and force control. It introduces various model-free and model-based controllers and develops robust and adaptive control schemes. It also addresses redundancy resolution schemes in detail.

Analysis and Design Tools to Help You Create Parallel Robots

In each chapter, the author revisits the same case studies to show how the techniques may be applied. The case studies include a planar cable-driven parallel robot, part of a promising new generation of parallel structures that will allow for larger workspaces. The MATLAB® code used for analysis and simulation is available online. Combining the analysis of kinematics and dynamics with methods of designing controllers, this text offers a holistic introduction for anyone interested in designing and implementing parallel robots.

商品描述(中文翻譯)

並行結構對於需要高精度和剛性,或者相對於機器人重量具有較高負載能力的工業自動化應用更為有效,儘管許多工業應用已經採用並行結構進行設計,但很少有教科書從動力學和控制的角度介紹這類機器人的分析。填補這一空白,《並行機器人:力學與控制》提供了一種系統化的方法來分析並行機器人的運動學、動力學和控制。它匯集了工程師和研究人員設計和實施工業並行結構所需的分析和設計工具。

本書在一個卷中涵蓋了運動學、動力學和控制。

本書首先介紹了機器人運動的表示和並行機械手臂的運動學分析。然後,它超越了靜態定位,探討了一種系統化的進行雅可比分析的方法。本書的一個特點是詳細介紹了並行機械手臂的動力學和控制。本書使用牛頓-歐拉方法、虛功原理和拉格朗日公式進行動力學分析。最後,本書詳細介紹了並行機械手臂的控制,包括運動控制和力控制。它介紹了各種基於模型和無模型的控制器,並開發了強健和自適應控制方案。它還詳細討論了冗余解析方案。

在每一章中,作者重新討論了相同的案例研究,以展示這些技術如何應用。案例研究包括平面纜線驅動並行機械手臂,這是一個有前景的新一代並行結構的一部分,將允許更大的工作空間。用於分析和模擬的MATLAB®代碼可在線上獲得。本書將運動學和動力學分析與控制器設計方法相結合,為任何有興趣設計和實施並行機器人的人提供了全面的介紹。