E-Book Overview
This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems. The book includes about 50 reviewed (by two independent reviewers) papers of researchers specialising in robot kinematics. The contributors are the most recognised scientists in this area. The chapters are as follows: Methods in Kinematics, Properties of Mechanisms, Humanoids and Biomedical Applications, Workspace and Isotropy, Analysis of Mechanisms, Design of Mechanisms, Motion Synthesis and Mobility.
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Advances in Robot Kinematics: Analysis and Design Jadran Lenarˇciˇc • Philippe Wenger Editors Advances in Robot Kinematics: Analysis and Design Jadran Lenarˇciˇc J. Stefan Institute Ljubljana, Slovenia ISBN-13: 978-1-4020-8599-4 Philippe Wenger IRCCyN Institute Nantes, France e-ISBN-13: 978-1-4020-8600-7 Library of Congress Control Number: 2008927513 © 2008 Springer Science+Business Media B.V. 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 on acid-free paper 987654321 springer.com Table of Contents Preface xi SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS A New Assessment of Singularities of Parallel Kinematic Chains Michele Conconi and Marco Carricato 3 Singularity Analysis through Static Analysis J. Hubert and J.-P. Merlet 13 Constraint Singularities and the Structural Parameters of Parallel Robots Grigore Gogu 21 Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator Xianwen Kong 29 Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility Tanio K. Tanev 39 SinguLab – A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann–Cayley Algebra Patricia Ben-Horin, Moshe Shoham, Stéphane Caro, Damien Chablat and Philippe Wenger Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann–Cayley Algebra Daniel Kanaan, Philippe Wenger and Damien Chablat 49 59 DESIGN OF ROBOTS AND MECHANISMS On the Design of Fully Constrained Parallel Cable-Driven Robots M. Gouttefarde, S. Krut, O. Company, F. Pierot and N. Ramdani v 71 vi Table of Contents Synthesis of Part Orienting Devices for Spatial Assembly Tasks P. Larochelle 79 Minimum Energy Manipulator Design A. Rojas Salgado and Y. Ledezman Rubio 89 Synthesis and Analysis of a Constrained Spherical Parallel Manipulator G.S. Soh and J.M. McCarthy 101 A Nonholonomic 3-DOF Parallel Robot Patricia Ben-Horin and Federico Thomas 111 4DOF Parallel Architecture for Laparoscopic Surgery Mohammad Aamir Khan, Matteo Zoppi and Rezio Molfino 119 Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control