Parallel Robots

Mechanics and Control
2. Auflage 2025
ISBN: 978-1-032-96666-3
Verlag: CRC Press

Buch, Englisch, 612 Seiten, Format (B × H): 178 mm x 254 mm, Gewicht: 1138 g

In today’s rapidly evolving industrial landscape, robotics has become essential for meeting the demands of large-scale production. Parallel robots, with their closed-loop kinematic structures, offer unmatched precision, rigidity, and load-bearing capabilities, making them indispensable for tasks requiring high accuracy and efficiency. This book explores the unique advantages of parallel robots, providing a comprehensive resource for engineers, researchers, and students interested in mastering their design, analysis, and control.

Building on the success of its first edition, this second edition has been extensively restructured and updated to reflect over a decade of progress in robotics. It features expanded chapters on dynamics, new sections on simulation and calibration, and a detailed exploration of control techniques, ranging from introductory linear methods to advanced force control. With nearly 45% updated references, the text ensures readers are equipped with cutting-edge knowledge.

This book is both a comprehensive guide and a gateway to innovation, providing detailed insights into the design, simulation, calibration, and control of parallel robots. Whether you are a newcomer to robotics or an experienced professional, this text equips you with the knowledge to harness the full potential of parallel robots, helping you stay ahead in the dynamic field of industrial automation.

Zielgruppe

Academic, General, Postgraduate, Undergraduate Advanced, and Undergraduate Core

Autoren/Hrsg.

Taghirad, Hamid D.

Fachgebiete

• Technische Wissenschaften Energietechnik | Elektrotechnik Elektrotechnik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik

Inhaltsverzeichnis

Part I: Preliminary Studies
1 Introduction. 2 Motion Representation. 3 Advanced Representations.
Part II: Kinematics
4 Kinematic Analysis. 5 Jacobian Matrix and Singularity. 6 Jacobian Matrix: Mappings & Characteristics
Part III: Dynamics
7 Dynamics Analysis: Newton-Euler Approach. 8 Dynamics Analysis: Euler-Lagrange Approach. 9 Dynamics Analysis: Virtual Work Approach. 10 Dynamic Simulation and Calibration.
Part IV: Control
11 Linear Motion Control. 12 Nonlinear and Multivariable Control. 13 Force Control. 14 Impedance Control.
Appendix A: Review on Linear Algebra. Appendix B: Review on Nonlinear Control.

Über Autor(innen)

Hamid D. Taghirad received his M.Sc. in mechanical engineering (mechatronics) in 1993 and his Ph.D. in electrical engineering (control–robotics) in 1997, both from McGill University, Montreal, Canada. He is currently a Professor and Director of the Applied Robotics and AI Solutions (ARAS), at K. N. Toosi University of Technology. Additionally, he has served as a Visiting Professor at McGill University, ETS, Concordia University, and most recently at the University of Alberta in Canada. As a senior member of IEEE, Hamid D. Taghirad contributes to the field of Robotics as an associate editor of IEEE Transactions on Medical Robotics and Bionics (IEEE – TMRB) and Frontiers in Robotics and AI – Biomedical Robotics. He is also part of the editorial board of the International Journal of Robotics: Theory and Applications. His research interests primarily revolve around robust and nonlinear control applied to robotics, with a focus on medical robotics, as well as the application of VR and AI technologies in medical applications. He boasts a substantial publication record, including seven books and over 300 papers in peer-reviewed international journals and conference proceedings.