00000cmm a22000004i 4500 UP-99796217612749603 Buklod 20230215105418.0 m |o d | ta 150622s2015 xx o u | eng d 9783319197883 (online ISBN) (iLib)UPD-00362013634 WaSeSS DENGII rda eng DMLUC TJ 211.4152 B75 2015eb Briot, Sebastien author. Dynamics of parallel robots from rigid bodies to flexible elements Sébastien Briot, Wisama Khalil. Cham Springer International Publishing [2015] 1 online resource. text rdacontent computer rdamedia online resource rdacarrier IP-based subscription, on campus and remote access. Access via Electronic Resources of the UPD Engineering Library and University Library websites. This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments. Electronic reproduction. New York SpringerLink 2015. Available via World Wide Web through SpringerLink. Parallel robots. Electronic books. Khalil, W. author. (Wisama). SpringerLink (Online service). Electronic Resource https://dx.doi.org/10.1007/978-3-319-19788-3 Available for University of the Philippines System via SpringerLink. Click here to access https://link-springer-com.ezproxy.engglib.upd.edu.ph/book/10.1007%2F978-3-319-19788-3 Also available remotely for University of the Philippines System via SpringerLink. Click here to access thru EZproxy (viewed 19 February 2019) FO UPD DENG-II Electronic Resource