Boek
Parallel robots are closedloop mechanisms presenting very good performances interms of accuracy velocity rigidity and ability to manipulate large loads.They have been used in a large number of applications ranging from astronomy toflight simulators and are becoming increasingly popular in the field ofmachinetool industry. This book presents a complete synthesis of the latestresults on the possible mechanical architectures analysis and synthesis ofthis type of mechanism. It is intended to be used by students with over 150exercises and numerous internet addresses researchers with over 650references and anonymous ftp access to the code of some algorithms presented inthis book and engineers for which practical results mistakes to avoid andapplications are presented. Since the publication of the first edition 2000there has been an impressive increase in terms of study and use of this kind ofstructure that are reported in this book. This second edition has beencompletely overhauled. The initial chapter on kinematics has been split intoInverse Kinematics and Direct Kinematics. A new chapter on calibration wasadded. The other chapters have also been rewritten to a large extent. Thereference section has been updated to include around 45 new works thatappeared after the first edition. TOCPreface. 1. Introduction. 2. StructuralSynthesis and Architectures. 3. Inverse Kinematics. 4. Direct Kinematics. 5.Velocity Accuracy and Acceleration Analysis. 6. Singular Configurations. 7.Workspace. 8. Static Analysis. 9. Dynamics. 10. Calibration. 11. Design.12. Annex System Solving. 13. Annex Interval Analysis. 14. Conclusion.Index. References. «
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