Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory PDF
Preview Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory
Jaime Gallardo-Alvarado Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory Jaime Gallardo-Alvarado Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory 123 JaimeGallardo-Alvarado DepartmentofMechanicalEngineering InstitutoTecnologicodeCelaya Celaya,Mexico ISBN978-3-319-31124-1 ISBN978-3-319-31126-5 (eBook) DOI10.1007/978-3-319-31126-5 LibraryofCongressControlNumber:2016939238 ©SpringerInternationalPublishingSwitzerland2016 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbook arebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsor theeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinorforany errorsoromissionsthatmayhavebeenmade. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAGSwitzerland Alaentrañablememoriademispadres, JosefinayJosé. AmiesposaAlmaDeliaehijosDelia Josefina, JuanPabloyJosé. Tomyfamilyandfriends! Preface Robotics is a prolific and intensive research field whose applications have had a highly positive impact on both academia and industry. While old and modern theoriesareappliedtosolvechallengingproblemsandimproveexistingsolutions, mathematical models are currently used in the design, simulation, and control of industrial robots. Certainly, the possibilities offered by robot manipulators are immense,causingthevarietyofrobotdesignstocontinuetogrow,whichdemands efficient and confident mathematical methods of analysis. It is noticeable that despite the diversity of journals and books concerned with the study of robot manipulators, there are particular issues that deserve to be deeply investigated or in some cases elucidated in the light of modern kinematics; these include singularitiesandhigher-orderkinematicanalysesofrobotmanipulators.Inthisarea, contributionsapproachingthejerkandhyper-jerkanalysesofrobotmanipulatorsvia screwtheoryareratherscarce,perhapsbecauseofthelackofpracticalapplications or the lack of credibility about the validity of the equations in screw form of the acceleration analysis of kinematic chains introduced almost two decades ago. In thisbook,relevantfundamentalsofscrewtheoryconcerningtheso-calledfirst-order kinematic analysis of a rigid body are carefully reviewed through the introduction ofpropositionsthatareconfirmedthroughdetailedandexplicitproofs.Inaddition, the acceleration, jerk, and hyper-jerk analyses of a rigid body are exhaustively investigatedbytakingadvantageofthemethodoutlinedforthefirst-orderkinematic analysis. Because of the recent successful introduction of parallel manipulators in the industry, those mechanical devices are selected as the means to exemplify the application of screw theory exposed in this book. With the material provided in this book, readers can extend screw theory into the kinematics of optional order of a rigid body and apply it to the analysis of parallel manipulators. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms, are revisited. In addition to screw theory, we apply new methods devoted to simplifying the corresponding forward displacementanalysis,achallengingtaskformostparallelmanipulators. vii viii Preface Thematerialpresentedinthisbookisbasedonresearchpublishedbytheauthor over the last 20 years, including his doctoral dissertation developed at Instituto TecnológicodelaLaguna,México,underthesupervisionofProf.JoséMaríaRico- Martínez. To the author’s best knowledge, this is one of the first books devoted to the higher-order kinematic analyses of a rigid body by screw theory and its application to the study of mechanisms possessing parallel kinematic structures. Theauthorisconfidentabouttheusefulnessofthematerialprovidedinthisbook, whichrepresentsanexcellentargumenttoensurethatscrewtheoryisnotconfined totheso-calledfirst-orderkinematicanalysis.Thematerialpresentedhereprovides toolsforengineers,researchers,andstudentsdealingwiththekinematicsofparallel manipulators.Asaconsiderationforreadersunfamiliarwithscrewtheory,thebook contains a reasonable quantity of examples. Furthermore, as an unusual outcome, fullanswerstoselectedexercisesareprovidedattheendofthevolume. Celaya,GTO,Mexico JaimeGallardo-Alvarado May2016 Acknowledgments The author wishes to thank the support of two Mexican institutions: the Consejo Nacional de Ciencia y Tecnología (CONACYT) and the Tecnológico Nacional de México (TecNM). The author is especially indebted to Michael Luby, Editor, Mechanical Engineering, Springer, for his advice and guidance in the preparation of the final text. Also, Nicole Lowary and Brian Halm are to be thanked for the assistancetheyprovidedduringthepublicationofthisbook. ix
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