By Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)
This ebook offers the latest learn advances within the concept, layout, keep watch over and alertness of robotic structures, that are meant for numerous reasons similar to manipulation, production, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength keep watch over, dexterity, inverse and ahead kinematics, kinematic singularities, in addition to over-constrained platforms. tools used comprise line geometry, quaternion algebra, screw algebra and linear algebra. those equipment are utilized to either parallel and serial multi-degree-of-freedom systems.
The publication comprises forty eight independently reviewed papers of researchers specialising in robotic kinematics. The members are the main acknowledged scientists during this region. The papers were subdivided into the subsequent sections: Singularity research of parallel manipulators, layout of robots and mechanisms, movement making plans and mobility, functionality and homes of mechanisms, degree and calibration, Kinematic research and workspace.
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Extra info for Advances in Robot Kinematics: Analysis and Design
It is clear from Eqs. (16), (17) and (22) that the condition for constraint singularity involves all joint axes, which fact implies that the mechanism remains in constraint singular conﬁguration even when the driven joint is changed. 2 Singularity of a 5-dof Parallel Manipulator In this section a type of parallel manipulator with ﬁve degrees of freedom is introduced and its singular conﬁgurations are analyzed using the geometric algebra. The considered parallel manipulator has four legs; the ﬁrst leg has RRPRR structure and the other three legs have identical SPS structure (Figure 3).
The condition for singularity is obtained using the language of geometric algebra. The approach is applied to two parallel manipulators with limited mobility. Key words: parallel manipulator, geometric algebra, kinematics, singularity. e. spatial parallel manipulators with less than six degrees of freedom (dof) or planar ones with less than three dof. The analysis of the singular conﬁgurations of the parallel manipulators is an essential part of the process of design and control. In a singular conﬁguration the moving platform of the parallel manipulator has an uncontrollable instant mobility and the manipulator can not sustain a certain wrench applied to the moving platform.
If two planes and a line were identiﬁed, then the residual letters will be referred as possible pairs of lines to correspond to case b. 4 Singularity Solution and Visualization This stage provides the singularity condition as a geometrical incidence between the entities that were already identiﬁed. The union and intersection of geometric entities in terms of GCA are obtained by means of the join and meet operators, respectively. Ben-Horin and Shoham (2006a, 2006b, 2007) found the geometrical conditions for 31 from the 34 regular GSPs.