Parallel Manipulators – Design, Applications and Dynamic Analysis

Parallel Manipulators – Design, Applications and Dynamic Analysis
Robotics Research and Technology
Cecilia Norton
Contents
Preface vii
Chapter 1 Adaptive Control of Parallel Manipulators:
Design and Real-Time Experiments
1
M. Bennehar, A. Chemori, S. Krut and F. Pierrot
Chapter 2 A Redundant Dynamic Modelling Procedure Based
on Extra Sensors for Parallel Robot Control
41
Asier Zubizarreta, Itziar Cabanes, Marga Marcos,
Charles Pinto, Javier Corral and Pablo Bengoa
Chapter 3 Structure Synthesis of Fully-Isotropic
Two-Rotational and Two-Translational Parallel
Robotic Manipulators
81
Yanbin Zhang
Chapter 4 The Parallel Two-Legged Walking Robot
CENTAUROB
101
Shucen Du, Josef Schlattmann, Stefan Schulz
and Arthur Seibel
Chapter 5 Sliding-Mode Tracking Control of the 6-DOF
3-Legged Wide-Open Parallel Robot
143
Mohammad H. Abedinnasab,
Jaime Gallardo-Alvarado,
Bahram Tarvirdizadeh
and Farzam Farahmand
Index
INDEX
#
2R2T, viii, ix, 81, 82, 83, 84, 85, 87, 88, 89,
91, 92, 93, 94, 95, 96, 97
6-DOF 3-legged Wide-Open parallel
manipulator, 146
A
actuation, 8, 37, 38, 87, 88, 97, 147
actuators, 9, 15, 19, 27, 29, 47, 50, 78, 82,
83, 97, 108, 110, 115, 116, 117, 118, 119,
120, 122, 123, 130, 132, 138, 145, 146,
147, 148, 150, 151, 152, 154, 155, 156,
157, 159, 160, 161, 162, 163
adaptation, vii, 1, 2, 3, 4, 5, 6, 16, 17, 18,
19, 20, 23, 28
adaptive control, vii, viii, 1, 2, 3, 4, 6, 7, 8,
16, 18, 21, 22, 24, 27, 32, 34, 35, 36, 37,
38
agility, 103, 128, 138
algorithm, 78, 139, 142, 145, 158, 165
amplitude, 31
Artificial Neural Networks, 5
automation, 102
autonomous navigation, 105
B
backlash, 63, 116, 148
bandwidth, 3, 19, 20
base, viii, 9, 10, 45, 55, 81, 82, 84, 88, 90,
104, 112, 144, 145, 147, 150, 151, 153
batteries, 105, 126, 127, 130
biped walking, 101, 103
C
CAD, 9, 10
calibration, 42, 63
case studies, 5, 158
case study, 141
CDC, 35
CENTAUROB, vii, ix, 101, 102, 103, 105,
106, 107, 108, 109, 110, 111, 112, 113,
114, 115, 116, 117, 119, 120, 121, 122,
123, 124, 125, 127, 128, 129, 131, 132,
133, 134, 135, 137, 138, 139, 140, 141
challenges, 42, 104, 105
closed-loop system, 1, 3, 4, 7, 19, 25, 71
closure, 48, 50
collisions, 117, 126, 129
comparative analysis, 65, 66
compensation, 6, 8, 35, 78, 80, 113, 116,
141
competitiveness, 109
complexity, 42, 70, 130
compliance, 112
computation, 78, 105, 139, 141
computed torque control, 41, 43, 63, 64, 65
computer, 27
configuration, 13, 68, 70, 72, 73, 74, 78, 95,
97, 110, 127, 141
connectivity, 88, 89, 96
constant load, 127
construction, ix, 101, 102, 105, 141
consumption, 127, 130, 132
control concepts, 101168 Index
convention, 45, 46, 150
convergence, 2, 116, 157
cost, 63, 64, 73, 75, 97, 116
D
damping, 5
decoupling, 16, 35, 76
Delta, 9, 14, 82, 140
derivatives, 22, 46, 56, 57, 120
detection, 105, 115, 164
deviation, 70, 72, 73, 149, 153
dichotomy, 104
displacement, 87, 91, 110, 117, 118, 131,
132, 152, 157, 158
distribution, 67, 68, 70, 73, 104, 130
dynamic control, 78
dynamics, viii, ix, 1, 2, 3, 5, 6, 8, 14, 15, 16,
17, 18, 19, 21, 22, 23, 25, 29, 32, 33, 45,
47, 59, 66, 70, 71, 75, 76, 77, 79, 82, 102,
103, 112, 141, 144, 165
E
electricity, 115, 127
energy, 31, 55, 57, 58, 105, 127
energy consumption, 105
engineering, 112
environment, ix, 2, 4, 101, 111, 133, 139
environments, 102, 104, 105, 106, 134, 135,
136, 137
equilibrium, 119
equipment, 104, 144
evolution, 4, 5, 8, 17, 23, 27, 31, 69, 140
excitation, 112
execution, 124, 125, 126
extracts, 52
F
factories, vii, viii, 41
filters, 27
flexibility, 103, 104, 106, 108, 112, 116
flight, 36, 82, 144
force, 14, 15, 75, 87, 89, 97, 111, 115, 119,
125, 130
freedom, viii, 43, 44, 45, 47, 77, 81, 82, 85,
88, 98, 99, 104, 105, 108, 110, 111, 113,
114, 115, 118, 119, 132, 136, 140, 141,
156, 159, 164
friction, 8, 14, 25, 44, 63, 66, 68, 108, 113,
148
fully-isotropic, 83, 85, 87, 89, 91, 93, 94,
95, 97, 99
G
geometry, 49, 98, 140, 142, 150, 151
google, 38
Gough-Stewart platform, 41, 43, 44, 45, 47,
48, 54, 60, 64, 72, 75, 104, 144, 161
gravitation, 62
gravitational effect, 153
gravitational force, 16
gravity, ix, 14, 15, 43, 55, 59, 70, 78, 80,
101
guidance, 104
H
height, 106, 109, 115, 124, 125, 128, 129,
130, 131, 132, 136, 137, 139, 151
hybrid, viii, 81, 82, 83, 84, 85, 86, 89, 96
I
ICRA, 36, 37, 38, 39, 140, 141
industrial environments, 102
industry, 42, 106, 134
inertia, 3, 15, 43, 55, 57, 58, 59, 66, 67, 70,
71, 72, 103, 152
inertial effects, 146, 163
intelligence, 102
interference, 42, 117, 126
iteration, 67
J
joints, viii, ix, 2, 9, 10, 11, 13, 14, 15, 16,
24, 42, 44, 47, 48, 49, 51, 62, 64, 66, 68,
70, 72, 75, 82, 83, 84, 85, 86, 87, 88, 89,
90, 91, 92, 94, 95, 96, 97, 103, 104, 105,Index 169
106, 107, 108, 112, 113, 114, 116, 118,
122, 145, 146, 147, 151, 152, 161, 163
K
kinematic chain structure, vii, viii, 41, 42
kinematic walking robot, ix, 101, 102
L
L1 adaptive control, vii, 3, 16, 17, 19, 21,
23, 24, 28, 29, 30, 32, 33, 36, 38
Lagrange multipliers, 43, 59
Lagrangian formulation, 43, 54
laws, 2, 19, 23, 27, 42, 62, 75, 145
legs, ix, 59, 82, 83, 84, 101, 105, 106, 108,
113, 114, 115, 117, 127, 144, 145, 146,
147, 149, 153, 163, 165
linear systems, 37
lithium, 127
localization, 138
Lyapunov function, 158
M
magnet, 117
magnitude, 160, 162
manufacturing, 104, 117, 144
mapping, ix, 82, 86, 91
mass, vii, viii, 14, 15, 16, 41, 55, 66, 67,
105, 106, 111, 115, 119, 125, 130, 131,
132, 133, 152, 153, 154, 159, 162
matrix, ix, 3, 13, 14, 15, 16, 17, 20, 21, 24,
25, 26, 27, 28, 43, 45, 46, 52, 53, 54, 55,
57, 58, 64, 70, 71, 82, 83, 84, 86, 89, 91,
95, 97, 111, 112, 120, 121, 122, 123, 150,
151, 153
measurement, 8, 29, 43, 76, 78, 115, 116,
117
medical, 75, 82
methodology, 44, 49, 72, 78
modelling, viii, 41, 42, 43, 44, 45, 47, 49,
51, 53, 55, 57, 59, 61, 63, 65, 67, 69, 71,
73, 75, 77, 79, 141
models, 105, 106
modifications, 102, 129
modules, 113
morphology, 99
motion control, 35, 79, 103, 124, 126
motivation, 6, 33, 105
muscles, 106
N
neural networks, 5, 6, 37
nickel, 127
nonlinear dynamics, viii, 1, 2, 3, 6, 8, 33
nonlinear system, 1, 156
O
obstacles, ix, 101, 102, 112, 128, 132, 133,
136, 142
omission, 132
operations, 4, 104
optimization, 98, 112, 127, 144, 165
P
parallel, vii, viii, ix, 1, 2, 3, 4, 5, 6, 7, 8, 9,
10, 21, 22, 24, 32, 33, 36, 37, 38, 42, 43,
44, 46, 47, 59, 62, 63, 64, 70, 75, 76, 77,
78, 79, 80, 81, 82, 83, 84, 85, 87, 88, 89,
90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100,
101, 102, 103, 104, 106, 109, 112, 115,
128, 134, 137, 140, 141, 143, 144, 145,
146, 149, 152, 153, 160, 161, 163, 164,
165, 166
parallel manipulators, 1, 144
parallel platform, 144, 165
parallel robots, vii, viii, 41, 42, 101, 102,
103
parameter estimation, 76
patents, 38
path planning, viii, 81, 82, 97, 139, 142
pitch, 49, 52, 87, 88, 154
platform, viii, ix, 4, 5, 9, 13, 14, 15, 24, 36,
41, 42, 43, 44, 45, 47, 48, 49, 50, 54, 55,
58, 59, 60, 64, 66, 70, 72, 75, 76, 77, 79,
81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91,
94, 95, 97, 102, 104, 109, 111, 112, 116,
118, 119, 134, 137, 142, 144, 145, 146,
147, 148, 149, 150, 151, 152, 153, 154,
155, 157, 160, 161, 162, 163, 164, 165170 Index
polar, 55
Portugal, 36
position control, 41, 62, 125, 156, 158
positioning errors, vii, viii, 42, 103, 144
programming, 5
project, 34, 71, 139
proposition, 33
prototype, vii, ix, 4, 33, 101, 102, 103, 106,
112, 113, 114, 140, 141, 147, 148, 151
R
radar, 82
radius, 10, 11, 12, 108, 149
reciprocal screw theory, viii, 81, 83, 87, 96
redundancy, viii, 8, 38, 43, 64, 97
reference frame, 48, 49, 55, 150
reference system, 17, 19
rejection, 28, 79
requirements, 2, 4, 42, 63, 67, 102, 108,
112, 145
resilience, 105, 112
resolution, 42, 78, 141
response, 22, 28
retirement, 135, 136
rings, 148
robotic manipulators, vii, viii, ix, 35, 36, 81,
82, 83, 87, 93, 96
robotics, 42, 43, 44, 50, 75, 104, 140, 147
rotational inertia, 14
rotational matrix, 86
rotations, 29, 114, 147, 154, 156
S
safety, 112, 134
saturation, 158
schema, 146, 159
semicircle, 146
sensitivity, viii, 43, 70, 72, 73, 74, 75, 79
sensor architecture, 101
sensors, viii, 29, 42, 43, 44, 47, 48, 50, 64,
67, 68, 70, 72, 73, 75, 78, 115, 116, 117,
118, 119, 125, 141
serial robots, vii, viii, 41, 42, 43, 62, 103,
104, 111
service robots, 101, 102, 104, 141
shape, 109, 112, 115, 131, 145, 147
signals, 3, 16, 116
simulations, ix, 3, 6, 44, 67, 77, 144, 145,
158, 160, 162, 163, 164
society, 135
solution, viii, 2, 11, 13, 18, 20, 24, 27, 38,
42, 50, 77, 116, 117, 119, 154, 155, 156
specifications, 42
spindle, 113, 115, 116
stability, 2, 5, 6, 35, 36, 102, 105, 106, 107,
108, 111, 119, 124, 125, 126, 129, 131,
132, 133, 134, 138
state(s), 3, 4, 7, 8, 15, 16, 17, 18, 19, 20, 21,
22, 23, 24, 25, 26, 27, 109, 114, 129, 157
statically stable walking, 101, 111, 132,
133, 137, 138
structure, vii, viii, ix, 2, 4, 9, 14, 17, 27, 41,
42, 44, 48, 81, 82, 83, 84, 86, 89, 96, 97,
101, 102, 103, 106, 108, 110, 112, 113,
114, 139
structure synthesis, 83, 85, 87, 89, 91, 93,
94, 95, 97, 99
synthesis, vii, viii, ix, 42, 81, 83, 87, 89, 96,
98, 99
T
target, 27, 94, 116, 124, 125, 126, 127, 129,
133, 134, 135, 136, 137, 138, 139, 142
technical support, 136
techniques, viii, 42, 43
technology, 112
testing, 144
time periods, 156
topology, 144
tracking performance, vii, viii, 1, 3, 8, 25,
29, 31, 33, 158
tracks, 16, 24
trajectory, ix, 5, 20, 29, 60, 62, 63, 64, 65,
68, 70, 71, 72, 78, 124, 128, 129, 131,
144, 145, 148, 149, 154, 155, 156, 159,
160, 161, 162, 163
transformation, 83, 99, 114, 152
translation, 45, 57
transmission, 83, 97, 110, 111
transportation, 136, 141
trigonometric functions, 49Index 171
V
validation, 60
variables, 43, 44, 45, 47, 48, 49, 50, 51, 53,
54, 55, 56, 57, 58, 59, 60, 61, 64, 68, 69,
87, 146
variations, 2, 4, 6, 67
vector, 9, 13, 15, 16, 17, 19, 20, 22, 43, 46,
49, 50, 51, 53, 55, 59, 71, 89, 91, 97, 119,
120, 122, 147, 150, 153, 156, 157, 158
velocity, ix, 8, 13, 21, 24, 27, 45, 46, 51, 52,
53, 54, 56, 57, 60, 64, 66, 71, 82, 83, 86,
89, 91, 94, 97, 102, 111, 115, 122, 124,
128, 132, 134
vibration, 103
vision, 104, 105, 112, 147
W
walking, vii, ix, 101, 102, 103, 105, 106,
111, 112, 116, 125, 127, 128, 129, 130,
131, 132, 133, 137, 138, 139, 140
walking scenarios, 101, 103, 128, 132, 138
weakness, 2
weight ratio, vii, viii, 42, 108
workforce, 105

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