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.- Introduces clear definitions for all relevant terms and the foundational theories- Provides in-depth kinematics of various parallel mechanisms typically used in the design of series-parallel hybrid robots- Presents holistic methods for solving kinematics, dynamics, trajectory generation, and control of series-parallel hybrid robots considering large number of holonomic constraints- Investigates case studies on the mechatronic system design of various series-parallel hybrid robots for practitioners in the field
Table of Contents
PART 1: Introduction1. Motivation2. Modular and decentralized design principles and applicationsPART 2: Geometric Analysis3. Methods for geometric analysis of parallel mechanisms4. 2-DOF orientational parallel mechanisms5. 3-DOF orientational parallel mechanismPART 3: Kinematics, Dynamics, and Control6. Kinematics and dynamics of tree type systems7. Modular algorithms for kinematics and dynamics of series-parallel hybrid robots8. Forward dynamics with constraint embedding for dynamic simulation9. Whole-body control10. Whole-body trajectory optimizationPART 4: Case Studies on Mechatronic System Design11. Charlie, a hominidae walking robot12. Multi-legged robot Mantis13. Sherpa, a family of wheeled-leg rovers14. Recupera exoskeletons15. RH5 Pedes humanoid16. ARTER: a walking excavator robotPART 5: Software and Outlook17. PHOBOS: creation and maintenance of complex robot models18. HyRoDyn: Hybrid Robot Dynamics19. Design of a flexible bio-inspired robot for inspection of pipelines20. Optimization of parallel mechanisms with joint limits and collision constraints
