000			03976nam a22004095i 4500
710	2		_aSpringerLink (Online service) _0http://id.loc.gov/authorities/names/no2005046756 _1http://viaf.org/viaf/274647764/ _9106996
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008			180220s2018 gw | s |||| 0|eng d
020			_a9783319743639
024	7		_a10.1007/978-3-319-74363-9 _2doi
040			_bspa _cES-MaUEC _dES-MaUEC
050		4	_aTJ211.4 _b2018 EB
245	0	0	_aDynamic Decoupling of Robot Manipulators _cedited by Vigen Arakelian
264		1	_aCham _bSpringer International Publishing _c2018
300			_a1 recurso en línea (VII, 188 páginas) _b95 ilustraciones , 6 ilustraciones a color
336			_2rdacontent _aTexto _btxt
337			_2rdamedia _aelectrónico _bc
338			_2rdacarrier _arecurso electrónico _bcr
347			_atext file _bPDF
490	0		_aMechanisms and Machine Science, _x2211-0984 _v56
490	0		_aEngineering (Springer-11647)
505	0		_aPreface -- Chapter 1 Dynamic decoupling of robot manipulators: a review with new examples, by V. Arakelian, J. Xu, and J. P. Le Baron -- Chapter 2 Design of adjustable serial manipulators with decoupled dynamics, by V. Arakelian, J. Xu, and J. P. Le Baron -- Chapter 3 Dynamic decoupling of planar serial manipulators with revolute joints, by V. Arakelian, J. Xu and J.P. Le Baron -- Chapter 4 Tolerance analysis of serial manipulators with decoupled and coupled dynamics, by J. Xu, V. Arakelian, and J.P. Le Baron -- Chapter 5 Dynamics decoupling control of parallel manipulator, by Jun-Wei Han, Wei Wei and Zhi-Dong Yang -- Chapter 6 Design and analysis of the 6-DOF decoupled parallel kinematics mechanism, by Victor Glazunov, Natalya Nosova,  Sergey Kheylo, Andrey Tsarkov --  Chapter 7 Design of Decoupled Parallel Robots, by T. Parikyan.
520	3		_aThis book presents the latest results in the field of dynamic decoupling of robot manipulators obtained in France, Russia, China and Austria. Manipulator dynamics can be highly coupled and nonlinear. The complicated dynamics result from varying inertia, interactions between the different joints, and nonlinear forces such as Coriolis and centrifugal forces. The dynamic decoupling of robot manipulators allows one to obtain a linear system, i.e. single-input and single output system with constant parameters. This simplifies the optimal control and accumulation of energy in manipulators. There are two ways to create the dynamically decoupled manipulators: via optimal mechanical design or control. This work emphasises mechatronic solutions. These will certainly improve the known design concepts permitting the dynamic decoupling of serial manipulators with a relatively small increase in total mass of the moving links taking into account the changing payload. For the first time such an approach has been applied on serial manipulators. Also of great interest is the dynamic decoupling control of parallel manipulators. Firstly, the dynamic model of redundant multi-axial vibration table with load has been established, and, secondly, its dynamic coupling characteristics have been analyzed. The discussed methods and applications of dynamic decoupling of robot manipulators are illustrated via CAD simulations and experimental tests.  .
988			_aEBSPRINGER_2018
650		7	_2embne _9140106 _aRobots
650		7	_2embne _aDinámica _9138903
700	1		_aArakelian, Vigen. _eeditor literario _4edt _4http://id.loc.gov/vocabulary/relators/edt _1http://viaf.org/viaf/815144647717608207038/
776	0	8	_iEdición impresa: _z9783319743622
776	0	8	_iEdición impresa: _z9783319743646
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-3-319-74363-9 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942			_2lcc _cLE
998			_b05/2020 _dz _eu _zSI