Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots write by Dan Zhang. This book was released on 2015-10-20. Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots available in PDF, EPUB and Kindle. This book covers the state-of-the-art technologies in dynamic balancing of mechanisms with minimum increase of mass and inertia. The synthesis of parallel robots based on the Decomposition and Integration concept is also covered in detail. The latest advances are described, including different balancing principles, design of reactionless mechanisms with minimum increase of mass and inertia, and synthesizing parallel robots. This is an ideal book for mechanical engineering students and researchers who are interested in the dynamic balancing of mechanisms and synthesizing of parallel robots. This book also: · Broadens reader understanding of the synthesis of parallel robots based on the Decomposition and Integration concept · Reinforces basic principles with detailed coverage of different balancing principles, including input torque balancing mechanisms · Reviews exhaustively the key recent research into the design of reactionless mechanisms with minimum increase of mass and inertia, such as the design of reactionless mechanisms with auxiliary parallelograms, the design of reactionless mechanisms with flywheels, and the design of reactionless mechanisms by symmetrical structure design.
Performance Improvement for Robotic Mechanisms by
Performance Improvement for Robotic Mechanisms by - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Performance Improvement for Robotic Mechanisms by write by Bin Wei. This book was released on 2016. Performance Improvement for Robotic Mechanisms by available in PDF, EPUB and Kindle. Robotics have been used in many arenas, such as manufacturing, medical, and space. Currently, the use of robotics is limited with respect to performance capabilities. Improving the performance of robotic mechanisms is a main research area. In this thesis, performance improvement is achieved through the approaches of robotic mechanism synthesis design, dynamic balance, and adaptive control. A novel three degrees of freedom hybrid manipulator is designed. After discussing the advantages of this new type of hybrid manipulator, the kinematic and Jacobian matrix of this manipulator are analyzed. The kinematic performances, which include stiffness/compliance and workspace, are then analyzed and optimized, and the multi-objective optimization on the compliance and workspace is subsequently conducted. The dynamics of the proposed manipulator are analyzed based on the Lagrangian method. When robotic mechanisms move, because the center of mass is not fixed and angular momentum is not constant, vibration is produced in the system. Dynamic balance is normally achieved by using counterweight(s), counter-rotation(s) or damping methods. However, the problem is that the whole system will become heavier and have more inertia. It is here proposed that dynamic balancing can be achieved through reconfiguration, rather than using counter-devices, so that the system will not gain any unwanted weight. After designing a balanced single leg, the legs will be combined to synthesize parallel mechanisms, i.e. first dynamically balance a single leg by the reconfiguration method (decomposition) and then combine the balanced legs to synthesize the whole parallel mechanism (integration). As the mechanism is reconfigured, the control system has to be reconfigured accordingly. One way to address the control system reconfiguration is by breaking up the control functions into small functional modules, and from those modules assembling the control system. A hybrid controller for serial robotic manipulators is synthesized by combining a proportional-integral-derivative controller and a model reference adaptive controller in order to further improve the accuracy and joint convergence speed performance. The results show that the convergence speed for the hybrid controller is faster than that of the MRAC controller. The hybrid and MRAC controllers are both better than that of the PID controller. Experimental system is developed to model and verify the correctness of a reconfigured control system.
Recent Advances in Mechanism Design for Robotics
Recent Advances in Mechanism Design for Robotics - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Recent Advances in Mechanism Design for Robotics write by Shaoping Bai. This book was released on 2015-05-05. Recent Advances in Mechanism Design for Robotics available in PDF, EPUB and Kindle. This volume contains the Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, held in Aalborg, Denmark, 2-4 June, 2015. The book contains papers on recent advances in the design of mechanisms and their robotic applications. It treats the following topics: mechanism design, mechanics of robots, parallel manipulators, actuators and their control, linkage and industrial manipulators, innovative mechanisms/robots and their applications, among others. The book can be used by researchers and engineers in the relevant areas of mechanisms, machines and robotics.
Smart Electromechanical Systems
Smart Electromechanical Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Smart Electromechanical Systems write by Andrey E. Gorodetskiy. This book was released on 2018-09-15. Smart Electromechanical Systems available in PDF, EPUB and Kindle. This book presents the latest achievements in the theory and practice of SEMS Group interaction by scientists from the Russian Academy of Sciences. It also discusses the development of methods for the design and simulation of SEMS Group interaction based on the principles of safety, flexibility and adaptability in behavior and intelligence and parallelism in information processing, computation and control. Recently, the task has been to ensure the functioning of robots within the framework of collective collaboration, so that they function efficiently, reliably and safely in real time. The topics covered include, but are not limited to, the following: - the planning behavior of the SEMS group;- methods and principles of designing of automatic control systems;- mathematical and computer modeling group interaction;- safety, flexibility and adaptability of the SEMS Group;- information-measuring soft- and hardware. This book is intended for students, scientists and engineers specializing in the field of smart electromechanical systems and robotics.
Dynamic Decoupling of Robot Manipulators
Dynamic Decoupling of Robot Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Dynamic Decoupling of Robot Manipulators write by Vigen Arakelian. This book was released on 2018-02-20. Dynamic Decoupling of Robot Manipulators available in PDF, EPUB and Kindle. This book presents the latest results in the field of dynamic decoupling of robot manipulators obtained in France, Russia, China and Austria. Manipulator dynamics can be highly coupled and nonlinear. The complicated dynamics result from varying inertia, interactions between the different joints, and nonlinear forces such as Coriolis and centrifugal forces. The dynamic decoupling of robot manipulators allows one to obtain a linear system, i.e. single-input and single output system with constant parameters. This simplifies the optimal control and accumulation of energy in manipulators. There are two ways to create the dynamically decoupled manipulators: via optimal mechanical design or control. This work emphasises mechatronic solutions. These will certainly improve the known design concepts permitting the dynamic decoupling of serial manipulators with a relatively small increase in total mass of the moving links taking into account the changing payload. For the first time such an approach has been applied on serial manipulators. Also of great interest is the dynamic decoupling control of parallel manipulators. Firstly, the dynamic model of redundant multi-axial vibration table with load has been established, and, secondly, its dynamic coupling characteristics have been analyzed. The discussed methods and applications of dynamic decoupling of robot manipulators are illustrated via CAD simulations and experimental tests.
