Dynamic Computer Simulation And Performance Evaluation Of Robotic Mechanisms
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Author | : Wade H. Shafer |
Publisher | : Springer Science & Business Media |
Total Pages | : 386 |
Release | : 2012-12-06 |
Genre | : Science |
ISBN | : 1461573912 |
Masters Theses in the Pure and Applied Sciences was first conceived, published, and disseminated by the Center for Information and Numerical Data Analysis and Synthesis (CINDAS) * at Purdue University in 1957, starting its coverage of theses with the academic year 1955. Beginning with Volume 13, the printing and dissemination phases of the activity were transferred to University Microfilms/Xerox of Ann Arbor, Michigan, with the thougtit that such an arrangement would be more beneficial to the academic and general scientific and technical community. After five years of this joint undertaking we had concluded that it was in the interest of all con cerned if the printing and distribution of the volumes were handled by an interna tional publishing house to assure improved service and broader dissemination. Hence, starting with Volume 18, Masters Theses in the Pure and Applied Sciences has been disseminated on a worldwide basis by Plenum Publishing Cor poration of New York, and in the same year the coverage was broadened to include Canadian universities. All back issues can also be ordered from Plenum. We have reported in Volume 31 (thesis year 1986) a total of 11 ,480 theses titles trom 24 Canadian and 182 United States universities. We are sure that this broader base tor these titles reported will greatly enhance the value ot this important annual reterence work. While Volume 31 reports theses submitted in 1986, on occasion, certain univer sities do re port theses submitted in previousyears but not reported at the time.
Author | : |
Publisher | : |
Total Pages | : 310 |
Release | : 1985 |
Genre | : Electronic data processing |
ISBN | : |
Author | : Dan Zhang |
Publisher | : Springer |
Total Pages | : 532 |
Release | : 2015-10-20 |
Genre | : Technology & Engineering |
ISBN | : 3319176838 |
This book covers the state-of-the-art technologies in dynamic balancing of mechanisms with minimum increase of mass and inertia. The synthesis of parallel robots based on the Decomposition and Integration concept is also covered in detail. The latest advances are described, including different balancing principles, design of reactionless mechanisms with minimum increase of mass and inertia, and synthesizing parallel robots. This is an ideal book for mechanical engineering students and researchers who are interested in the dynamic balancing of mechanisms and synthesizing of parallel robots. This book also: · Broadens reader understanding of the synthesis of parallel robots based on the Decomposition and Integration concept · Reinforces basic principles with detailed coverage of different balancing principles, including input torque balancing mechanisms · Reviews exhaustively the key recent research into the design of reactionless mechanisms with minimum increase of mass and inertia, such as the design of reactionless mechanisms with auxiliary parallelograms, the design of reactionless mechanisms with flywheels, and the design of reactionless mechanisms by symmetrical structure design.
Author | : |
Publisher | : |
Total Pages | : 1052 |
Release | : 1985 |
Genre | : Mechanics, Applied |
ISBN | : |
Author | : Michael Edwin Kahn |
Publisher | : |
Total Pages | : 202 |
Release | : 1969 |
Genre | : Artificial intelligence |
ISBN | : |
The time-optimal control of a system of rigid bodies connected in series by single-degree-of-freedom joints is studied. The dynamical equations of the system are highly nonlinear and a closed-form representation of the minimum-time feedback control is not possible. However, a suboptimal feedback control which provides a close approximation to the optimal control is developed. The suboptimal control is expressed in terms of switching curves for each of the system controls. These curves are obtained from the linearized equations of motion for the system. Approximations are made for the effects of gravity loads and angular velocity terms in the nonlinear equations of motion. Digital simulation is used to obtain a comparison of response of the optimal and suboptimal controls. The speed of response of the suboptimal control is found to compare quite favorably with the response speed of the optimal control. The analysis is applied to the control of three joints of a mechanical manipulator. Modifications of the suboptimal control for use in a sampled-data system are shown to result in good performance of a hydraulic manipulator under computer control. (Author).
Author | : |
Publisher | : |
Total Pages | : 440 |
Release | : 1995 |
Genre | : Aeronautics |
ISBN | : |
Author | : Guanglei Wu |
Publisher | : Springer Nature |
Total Pages | : 262 |
Release | : 2020-08-08 |
Genre | : Technology & Engineering |
ISBN | : 9811566712 |
This book discusses the parametric modeling, performance evaluation, design optimization and comparative study of the high-speed, parallel pick-and-place robots. It collects the modeling methodology, evaluation criteria and design guidelines for parallel PnP robots to provide a systematic analysis method for robotic developers. Furthermore, it gathers the research results previously scattered in many prestigious international journals and conference proceedings and methodically edits them and presents them in a unified form. The book is of interest to researchers, R&D engineers and graduate students in industrial parallel robotics who wish to learn the core principles, methods, algorithms, and applications.
Author | : Alain. Liegeois |
Publisher | : Springer Science & Business Media |
Total Pages | : 265 |
Release | : 2013-03-09 |
Genre | : Science |
ISBN | : 1468468529 |
What are the design or selection criteria for robots that will be capable of carrying out particular functions? How can robots and machines be installed in work locations to obtain maximum effectiveness? How can their programming be made easier? How can a work location be arranged so as to accommodate successfully automatic machines? Traditionally, these questions have only been answered as a result of long and exhaustive study, involving complex calculations and the use of many sketches and plans. Computers and interactive computer graphics provide the possibility of automation for this type of analysis, thus making the task of robot designers and users easier. This volume is concerned with mathematical modelling and graphics representation of robot performance (eg their fields of action, their performance index) as a function of their structure, mechanical parts and memory systems. Used in conjunction with operating specifications, such as movement programs and computer-aided design (CAD) data bases that describe parts or tools, these perform ance models can allow the potential of different robots or different models of the same type of robot to be compared, workstations to be organized efficiently, responses to be optimized, errors to be minimized and can make off-line programming by computer a real possibility. In the future, it is certain that the appearance of robots designed to monitor their own performances will allow applications and safety conditions to be considerably improved.
Author | : Abhijit Mahapatra |
Publisher | : Springer Nature |
Total Pages | : 230 |
Release | : 2020-02-27 |
Genre | : Computers |
ISBN | : 9811529531 |
This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.
Author | : University of Michigan |
Publisher | : UM Libraries |
Total Pages | : 212 |
Release | : 1999 |
Genre | : Education, Higher |
ISBN | : |
Each number is the catalogue of a specific school or college of the University.