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008			190320s2019 gw a o |||| 0|eng d
020			_a9783030113049
024	7		_a10.1007/978-3-030-11304-9 _2doi
040			_bspa _dES-MaUEC _cES-MaUEC
050		4	_aTJ211.4152 _b2019 EB
100	1		_aGrosch, Patrick _eautor _9670859
245	1	0	_aParallel Robots with Unconventional Joints : _bKinematics and Motion Planning _cby Patrick Grosch, Federico Thomas
264		1	_aCham _bSpringer International Publishing : _bImprint: Springer _c2019
300			_a1 recurso en línea (VIII, 107 páginas) _b52 ilustraciones, 42 ilustraciones a color
336			_2rdacontent _aTexto _btxt
337			_2rdamedia _aelectrónico _bc
338			_2rdacarrier _arecurso electrónico _bcr
347			_atext file _bPDF
490	0		_aEngineering (Springer-11647)
490	0		_aParallel Robots: Theory and Applications _x2524-6232
505	0		_a1 Introduction: lockable and non-holonomic joints -- 1.1 Motivation -- 1.2 Precursors -- 1.3 Organization of this book -- References -- 2 Parallel robots with lockable revolute joints -- 2.1 Kinematics of the 4RbRPS parallel robot -- 2.2 Maneuvers -- 2.3 Motion planning -- 2.4 Hardware implementation -- 2.5 Software implementation -- References -- 3 Spherical non-holonomic joints -- 3.1 Under-actuated parallel robots with spherical non-holonomic joints -- 3.2 Implementation of spherical non-holonomic joints -- References -- 4 Kinematics of the 3SnPU spatial robot -- 4.1 The 3SnPU robot -- 4.2 Instantaneous kinematics -- 4.3 Statics analysis -- 4.4 Singularities -- 4.5 Controllability -- 4.6 Example -- References -- 5 Motion planning for the 3SnPU robot -- 5.1 Motion planning -- 5.2 Using truncated series -- 5.3 Example -- References -- 6 Kinematics of the Sn-2UPS spherical robot -- 6.1 Kinematic model -- 6.2 Deriving a bilinear model -- 6.3 Singularities -- 6.4 A, B, and rotations in R4 -- 6.5 Workspace computation -- 7 Motion planning for the Sn-2UPS robot -- 7.1 Kinematic model -- 7.2 Three-move motion planner -- 7.3 Two-move motion planner -- 7.4 Single-move motion planner -- 7.5 Example -- 7.6 Implementation -- References -- 8 Conclusions.
520	3		_aThis book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robot's ability to bring its mobile platform to the desired configuration. The kinematics of the most representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations. .
650		7	_2embne _9140106 _aRobots
650		7	_2embne _aCinemática _9138898
700	1		_aThomas, F. _eautor _9670860 _q(Federico)
776	0	8	_iPrinted edition: _z9783030113032
776	0	8	_iPrinted edition: _z9783030113056
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-3-030-11304-9 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942			_2lcc _cLE
988			_aPrimersemestre_2019_Engineering
998			_aSI _cm _dz _feng _ggw _h0 _b09/2019 _eel _zSI