Parallel Manipulators: Design, Applications and Dynamic Analysis


Cecilia Norton (Editor)

Series: Robotics Research and Technology
BISAC: TEC037000

Robots are a key element in current industrial processes, as they can be applied to a number of tasks, increasing both quality and productivity. Traditionally, serial robots have been installed in factories, as their wide operating space allowed them to fulfill a number of tasks. However, due to their high moving mass and single kinematic chain structure, these robots present some disadvantages when high speed, accuracy or heavy load handling tasks have to be executed. Parallel robots provide an interesting alternative to these application fields, as their multiple kinematic chain structure offers increased stiffness, allowing reduced positioning errors, lighter mechanisms and increased load/weight ratios. In this book, Chapter One addresses a new control strategy for parallel manipulators based on L1 adaptive control. This latter is known for its decoupled control and estimation loops, enabling fast adaptation and guaranteed robustness. Chapter Two focuses on the control of parallel robots. Chapter Three reviews structure synthesis of fully-isotropic two-rotational and two-translational parallel robotic manipulators. Chapter Four reviews the new prototype of the two-legged, parallel kinematic walking robot CENTAUROB, developed at Hamburg University of Technology. Chapter Five analyzes and robustly controls the 6-DOF 3-legged Wide-Open parallel manipulator, using a Lyapunov analysis approach. (Imprint: Nova)

Table of Contents

Table of Contents


Chapter 1. Adaptive Control of Parallel Manipulators: Design and Real-Time Experiments
M. Bennehar, A. Chemori, S. Krut and F. Pierrot (LIRMM, Montpellier, France)

Chapter 2. A Redundant Dynamic Modelling Procedure Based on Extra Sensors for Parallel Robot Control
Asier Zubizarreta, Itziar Cabanes, Marga Marcos, Asier Charles Pinto, Javier Corral and Pablo Bengo (Faculty of Engineering in Bilbao, University of the Basque Country (UPV/EHU), Bilbao, Spain)

Chapter 3. Structure Synthesis of Fully-Isotropic two-Rotational and two-Translational Parallel Robotic Manipulators
Yanbin Zhang (School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang, China)

Chapter 4. The Parallel Two-Legged Walking Robot CENTAUROB
Shucen Du, Josef Schlattmann, Stefan Schulz, Arthur Seibel (Workgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, Hamburg, Germany)

Chapter 5. Sliding-Mode Tracking Control of the 6-DOF 3-Legged Wide-Open Parallel Robot
Mohammad H. Abedinnasab, Jaime Gallardo-Alvarado, Bahram Tarvirdizadeh and Farzam Farahmand (Department of Biomedical Engineering, Rowan University, Glassboro, New Jersey, USA, and others)


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