| 书目名称 | Dynamics of Parallel Robots |
| 编辑 | Stefan Staicu |
| 视频video | |
| 概述 | Presents a brief theory of matrix mechanics of the rigid body.Uses matrix modeling to establish the connectivity conditions on the relative velocities and accelerations.Compares the principle of virtu |
| 丛书名称 | Parallel Robots: Theory and Applications |
| 图书封面 |  |
| 描述 | .This book establishes recursive relations concerning kinematics and dynamics of constrained robotic systems. It uses matrix modeling to determine the connectivity conditions on the relative velocities and accelerations in order to compare two efficient energetic ways in dynamics modeling: the principle of virtual work, and the formalism of Lagrange‘s equations. ..First, a brief fundamental theory is presented on matrix mechanics of the rigid body, which is then developed in the following five chapters treating matrix kinematics of the rigid body, matrix kinematics of the composed motion, kinetics of the rigid body, dynamics of the rigid body, and analytical mechanics. By using a set of successive mobile frames, the geometrical properties and the kinematics of the vector system of velocities and accelerations for each element of the robot are analysed. The dynamics problem is solved in two energetic ways: using an approach based on the principle of virtual work and applying the formalism of Lagrange‘s equations of the second kind. These are shown to be useful for real-time control of the robot‘s evolution. Then the recursive matrix method is applied to the kinematics and dynamics a |
| 出版日期 | Book 2019 |
| 关键词 | Dynamics modelling; Parallel mechanisms; Virtual work; Robotic Systems; spatial parallel robots; planar p |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-3-319-99522-9 |
| isbn_softcover | 978-3-030-07604-7 |
| isbn_ebook | 978-3-319-99522-9Series ISSN 2524-6232 Series E-ISSN 2524-6240 |
| issn_series | 2524-6232 |
| copyright | Springer Nature Switzerland AG 2019 |
发表于 2025-3-21 16:55:28
