| 000 | 03054nam0a2200373 4500 | ||
|---|---|---|---|
| 001 | 255181 | ||
| 005 | 20231029213112.0 | ||
| 010 | _a9781466555761 | ||
| 035 | _a(RuTPU)RU\TPU\book\277685 | ||
| 090 | _a255181 | ||
| 100 | _a20140326d2013 k y0engy50 ba | ||
| 101 | 0 | _aeng | |
| 102 | _aUS | ||
| 105 | _aa z 001zy | ||
| 200 | 1 |
_aParallel Robots. Mechanics and Control _fH. Taghirad |
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| 210 |
_aNew York _cTaylor & Francis _cCRC Press _d2013 |
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| 215 |
_a519 p. _cil. |
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| 320 | _aReferences: p. 501-509. | ||
| 320 | _aIndex: p. 511-519. | ||
| 330 | _aParallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics and control. Filling this gap, Parallel Robots: Mechanics and Control presents a systematic approach to analyze the kinematics, dynamics, and control of parallel robots. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures in industry. The book begins with the representation of motion of robots and the kinematic analysis of parallel manipulators. Moving beyond static positioning, it then examines a systematic approach to performing Jacobian analysis. A special feature of the book is its detailed coverage of the dynamics and control of parallel manipulators. The text examines dynamic analysis using the Newton-Euler method, the principle of virtual work, and the Lagrange formulations. Finally, the book elaborates on the control of parallel robots, considering both motion and force control. It introduces various modelfree and model-based controllers and develops robust and adaptive control schemes. It also addresses redundancy resolution schemes in detail. In each chapter, the author revisits the same case studies to show how the techniques may be applied. The case studies include a planar cable-driven parallel robot, part of a promising new generation of parallel structures that will allow for larger workspaces. Combining the analysis of kinematics and dynamics with methods of designing controllers, this text offers a holistic introduction for anyone interested in designing and implementing parallel robots. | ||
| 606 | 1 |
_aМанипуляторы автоматические _2stltpush _3(RuTPU)RU\TPU\subj\40983 |
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| 610 | 1 | _aробототехника | |
| 610 | 1 | _aробототехнические устройства | |
| 610 | 1 | _aроботы манипуляторы | |
| 610 | 1 | _aконструирование | |
| 610 | 1 | _aпроектирование | |
| 610 | 1 | _aконтроль | |
| 610 | 1 | _aанглийский язык | |
| 675 |
_a621.865.8-529 _v3 |
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| 700 | 1 |
_aTaghirad _bH. _gHamid |
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| 801 | 1 |
_aRU _b63413507 _c20140326 |
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| 801 | 2 |
_aRU _b63413507 _c20141216 _gRCR |
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| 942 | _cBK | ||
| 959 |
_a44/20140311 _d1 _e0 _fЧЗИЛ:1 |
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