By Gang Shen, Yukio Takeda, Hiroaki Funabashi (auth.), J. Lenarčič, F. Thomas (eds.)
This is the 5th e-book of the Kluwer's sequence Advances in robotic Kine matics. The ebook provides the newest study advances within the concept, layout, regulate and alertness of robot structures, that are meant for a number of reasons reminiscent of manipulation, manufactur ing, 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 contain line geometry, quaternion algebra, screw alge bra, and linear algebra. those equipment are utilized to either parallel and serial multi-degree-of-freedom structures. the implications should still curiosity researchers, academics and scholars, in fields of engineering and mathe matics with regards to robotic idea, layout, keep an eye on and alertness. each one contribution during this booklet were conscientiously reviewed via or 3 self reliant reviewers and fifty three articles have been suggested for book. we're chuffed to watch that Advances in robotic Kine matics has constantly attracted the main extraordinary authors and has de veloped a extraordinary medical group within the region. Many very important and unique clinical effects have been for the 1st time said and dis stubborn in those books. All articles during this booklet have been additionally pronounced on the 8 overseas symposium on Advances in robotic Kinematics that used to be organised in June 2002 in Caldes de Malavella in Spain.
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Additional info for Advances in Robot Kinematics: Theory and Applications
For a rigid body, these variables can be the three components of the velocity vector of a landmark point and those of the angular-velocity vector of the body. Both vectors are expressed in the same reference frame, whether inertial or not. If the body is flexible, the twist is augmented by a set of generalized velocities representing the body deformation rate. , a frame attached to the body, with its origin located at the above-mentioned landmark point. The twist is usually defined as an array comprising the components of the absolute velocities, both translational and angular, expressed in the local frame.
This fact can be seen on all the type maps; however, as they take other values than zero for dl and d2, their structure becomes more complex. = = 54 p Figure 5. Type maps for the cases with a = rc/4 indicated on Fig. 2. As dl and d2 approach the limits of Fig. 2, the fringe of RR widens and, also, the space between it and the CC area is occupied by a 1t1t area. Simultaneously, the optimal CC and 1tO zones become smaller and also separated by the 1t1t type. In conclusion, the performance of the 55 mechanism is worse because there is less CC and nO areas and, in addition, they are not connected.
Figure 4. 75 .. B X-axis [m] 6. 65 '1.. q.. 2 I~ ~q,. > 'Ie 'I.. 6 . . 6 "'.. 2 X-axis [m] Contour stiffness maps for three arrangements of the Z actuator. Tolerance Consideration In practice, it may be difficult to fabricate and assemble a perfect orthogonal frame. In this section, we illustrate a method for compensating manufacturing and assembling errors of the linear actuators by one example. 8 about the Z axis, and the other actuators are mounted perfectly along the Y and Z axes as shown in Fig.
Advances in Robot Kinematics: Theory and Applications by Gang Shen, Yukio Takeda, Hiroaki Funabashi (auth.), J. Lenarčič, F. Thomas (eds.)