By Gang Shen, Yukio Takeda, Hiroaki Funabashi (auth.), J. Lenarčič, F. Thomas (eds.)

ISBN-10: 9048160545

ISBN-13: 9789048160549

ISBN-10: 9401706573

ISBN-13: 9789401706575

This is the 5th e-book of the Kluwer's sequence Advances in robotic Kine­ matics. The publication offers the latest examine advances within the concept, layout, keep an eye on and alertness of robot platforms, that are meant for numerous reasons comparable to manipulation, manufactur­ ing, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength regulate, dexterity, inverse and ahead kinematics, kinematic singularities, in addition to over-constrained structures. equipment used comprise line geometry, quaternion algebra, screw alge­ bra, and linear algebra. those tools are utilized to either parallel and serial multi-degree-of-freedom structures. the implications may still curiosity researchers, lecturers and scholars, in fields of engineering and mathe­ matics regarding robotic idea, layout, keep watch over and alertness. every one contribution during this ebook have been carefully reviewed via or 3 autonomous reviewers and fifty three articles have been steered for booklet. we're satisfied to monitor that Advances in robotic Kine­ matics has regularly attracted the main extraordinary authors and has de­ veloped a outstanding clinical neighborhood within the zone. Many vital and unique clinical effects have been for the 1st time mentioned and dis­ stubborn in those books. All articles during this booklet have been additionally said 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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2 ~ \). ' ~ ~. 6 . 8 . '" 0 I I . • O~ oj; .... 6 . ' 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.

When a =1t, the type maps are obviously the same; but the diagram in 53 Fig. 2 just must be inverted by symmetry around one of the axis of coordinates. s q Figure 4. Type maps for the cases with a =0 indicated on Fig. 2. For any {dl,d2}, the 1[0 and CC areas are contiguous. The first one near the shorter values of p and q, and the second one for larger values without apparent limit. Other less convenient types appear on the map. When dl increases, the area of the map decreases; while larger portions of it become of the CC type.

The flexural coordinates are understood here as a finite set ofthe generalized coordinates describing the defonnation of a flexible body upon discretization. , the Finite Elements Method, the Assumed-Modes Method, and the Method of Cubic Splines. p(r)q(t) where r is the local position vector of a point in the body, and t represents time . p( r) and q( t) are called the shape-function matrix and the vector of flexural coordinates, respectively. 2. The cross-product matrix V of a vector v is the skew-symmetric matrix given by V == CPM(v) ~ &(v x x), &x '

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Advances in Robot Kinematics: Theory and Applications by Gang Shen, Yukio Takeda, Hiroaki Funabashi (auth.), J. Lenarčič, F. Thomas (eds.)

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