Dynamics of parallel robots
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 princi...
| Main Author: | Staicu, Ștefan, |
|---|---|
| Other Authors: | SpringerLink (Online Service) |
| Format: | eBook |
| Language: | English |
| Published: |
Cham :
Springer,
[2018]
|
| Physical Description: |
1 online resource. |
| Series: |
Parallel robots.
|
| Subjects: |
Table of Contents:
- Intro; Preface; Contents; List of Figures; 1 Introduction; 1.1 Robotics Systems; 1.2 Historical Development; 1.3 Mechanics of Robots; References; 2 Matrix Kinematics of the Rigid Body; 2.1 Position and Orientation of the Rigid Body; 2.2 Velocity Field; 2.3 Acceleration Field; 2.4 Twist of Velocity Field of a Rigid Body; 2.5 Types of Rigid Body Motions; 2.5.1 Translation; 2.5.2 Rotation About a Fixed Axis; 2.5.3 Cylindrical Motion of a Rigid Body; 2.5.4 Spherical Motion of a Rigid Body; 2.5.5 Planar Motion of a Rigid Body; References; 3 Matrix Kinematics of Composed Motion.
- 3.1 Kinematics of Composed Motion of a Point3.1.1 Absolute Velocity; 3.1.2 Absolute Acceleration; 3.2 Kinematics of Composed Motion of a Rigid Body; 3.2.1 Velocity Field; 3.2.2 Acceleration Field; 3.3 Applications to Kinematics Analysis of Mechanisms; 3.3.1 Universal Hooke Joint; 3.3.2 Slider-Crank Mechanism; 3.3.3 Four-Bar Mechanism; 3.3.4 Quick-Return Mechanism; References; 4 Kinetics of the Rigid Body; 4.1 Centre of Mass and Tensor of Static Moments of a Rigid Body; 4.2 Moments of Inertia of a Rigid Body; 4.2.1 Tensor of Inertia; 4.2.2 Generalized Huygens-Steiner Theorem.
- 4.2.3 Principal Axes and Principal Moments of Inertia4.2.4 Inertia Moments of Planar Systems; 4.2.5 General Matrix of Inertia of a Rigid Body; 4.3 Kinetic Impulse of a System of Particles; 4.4 Kinetic Moment of a Rigid Body; 4.4.1 Translation; 4.4.2 Rotation About a Fixed Axis; 4.4.3 Spherical Motion of a Rigid Body; 4.4.4 General Motion of a Rigid Body; 4.4.5 Planar Motion of a Rigid Body; 4.4.6 Kinetic Wrench of the Rigid Body; 4.5 Kinetic Energy of a Rigid Body; 4.5.1 Translation; 4.5.2 Rotation About a Fixed Axis; 4.5.3 Spherical Motion of a Rigid Body.
- 4.5.4 General Motion of a Rigid Body4.5.5 Planar Motion of the Rigid Body; 4.5.6 General Expression of Kinetic Energy of a Rigid Body; 4.6 Power and Work of the Forces Acting on a System of Particles; 4.7 Power and Work of the Forces Acting on a Rigid Body; References; 5 Dynamics of the Rigid Body; 5.1 Fundamental System of Differential Equations of Motion for a System of Particles; 5.2 Theorem of Kinetic Impulse; 5.3 Theorem of Kinetic Moment; 5.4 Theorem of Kinetic Moment with Respect to a Translating Frame; 5.5 Theorem of Kinetic Energy; 5.6 Conservation of Mechanical Energy.
- 5.7 Theorem of Kinetic Energy with Respect to a Translating Frame5.8 Equations of Motion in Dynamics of the Rigid Body; 5.8.1 Planar Motion of a Rigid Body; 5.8.2 Spherical Motion of a Rigid Body; 5.8.3 Spherical Motion of a Rigid Body Under Its Own Weight; 5.8.4 Gyroscope; 5.8.5 Gyroscopic Moment; References; 6 Analytical Mechanics; 6.1 Principle of Virtual Work; 6.2 D'Alembert's Principle; 6.2.1 Wrench of Inertia Forces; 6.2.2 Inertia Forces Applied to a Rigid Body; 6.3 Lagrange Equations; 6.3.1 Conservative System of Forces; 6.3.2 Non-holonomic Mechanical Systems.