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Full Description
Biologically Inspired Series-Parallel Hybrid Robots: Design, Analysis and Control provides an extensive review of the state-of-the-art in series-parallel hybrid robots, covering all aspects of their mechatronic system design, modelling, and control. This book highlights the modular and distributed aspects of their mechanical, electronics, and software design, introducing various modern methods for modelling the kinematics and dynamics of complex robots. These methods are also introduced in the form of algorithms or pseudo-code which can be easily programmed with modern programming languages. Presenting case studies on various popular series-parallel hybrid robots which will inspire new robot developers, this book will be especially useful for academic and industrial researchers in this exciting field, as well as graduate-level students to bring them closer to the latest technology in mechanical design and control aspects of the area.
Contents
PART 1: Introduction
1. Motivation
2. Modular and decentralized design principles and applications
PART 2: Geometric Analysis
3. Methods for geometric analysis of parallel mechanisms
4. 2-DOF orientational parallel mechanisms
5. 3-DOF orientational parallel mechanism
PART 3: Kinematics, Dynamics, and Control
6. Kinematics and dynamics of tree type systems
7. Modular algorithms for kinematics and dynamics of series-parallel hybrid robots
8. Forward dynamics with constraint embedding for dynamic simulation
9. Whole-body control
10. Whole-body trajectory optimization
PART 4: Case Studies on Mechatronic System Design
11. Charlie, a hominidae walking robot
12. Multi-legged robot Mantis
13. Sherpa, a family of wheeled-leg rovers
14. Recupera exoskeletons
15. RH5 Pedes humanoid
16. ARTER: a walking excavator robot
PART 5: Software and Outlook
17. PHOBOS: creation and maintenance of complex robot models
18. HyRoDyn: Hybrid Robot Dynamics
19. Design of a flexible bio-inspired robot for inspection of pipelines
20. Optimization of parallel mechanisms with joint limits and collision constraints
