Parallel Robots
Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a large number of applications ranging from astronomy to flight simulators
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SOLID MECHANICS AND ITS APPLICATIONS Volume 128 Series Editor:
G.M.L. GLADWELL Department of Civil Engineering University of Waterloo Waterloo, Ontario, Canada N2L 3GI
Aims and Scope of the Series The fundamental questions arising in mechanics are: Why?, How?, and How much? The aim of this series is to provide lucid accounts written by authoritative researchers giving vision and insight in answering these questions on the subject of mechanics as it relates to solids. The scope of the series covers the entire spectrum of solid mechanics. Thus it includes the foundation of mechanics; variational formulations; computational mechanics; statics, kinematics and dynamics of rigid and elastic bodies: vibrations of solids and structures; dynamical systems and chaos; the theories of elasticity, plasticity and viscoelasticity; composite materials; rods, beams, shells and membranes; structural control and stability; soils, rocks and geomechanics; fracture; tribology; experimental mechanics; biomechanics and machine design. The median level of presentation is the first year graduate student. Some texts are monographs defining the current state of the field; others are accessible to final year undergraduates; but essentially the emphasis is on readability and clarity.
For a list of related mechanics titles, see final pages.
Parallel Robots (Second Edition)
by
J.-P. MERLET INRIA, Sophia-Antipolis, France
A C.I.P. Catalogue record for this book is available from the Library of Congress.
ISBN-10 ISBN-13 ISBN-10 ISBN-13
1-4020-4132-2 (HB) 978-1-4020-4132-7 (HB) 1-4020-4133-0 (e-book) 978-1-4020-4133-4 (e-book)
Published by Springer, P.O. Box 17, 3300 AA Dordrecht, The Netherlands. www.springer.com
Printed on acid-free paper
All Rights Reserved © 2006 Springer No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Printed in the Netherlands.
Table of Contents
Preface xv Acknowledgements . . . . . . . . . . . . . . . . . . . . . . . . . . xvii Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xviii 1 Introduction 1.1 Characteristics of classical robots . . . . . . . . . . . 1.2 Other types of architecture . . . . . . . . . . . . . . 1.3 Needs for robotics . . . . . . . . . . . . . . . . . . . 1.4 Parallel robots: definition . . . . . . . . . . . . . . . 1.4.1 Generalized parallel manipulators: definition 1.4.2 Parallel manipulators . . . . . . . . . . . . . 1.4.3 Fully parallel manipulators . . . . . . . . . . 1.4.4 Fully parallel manipulators: analysis . . . . . 1.4.4.1 Planar robots . . . . . . . . . . . . . 1.4.4.2 General case . . . . . . . . . . . . . 1.5 Contents . . . . . . . . . . . . . . . . . . . . . . . . . 1.6 Exercises . . . . . . . .
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