دانلود کتاب Parallel Robots ،Mechanics and Control (ربات های موازی، مکانیک و کنترل) 2013

کتاب Parallel Robots ،Mechanics and Control (2013 نوشته  دکتر حمید تقی راد کتابی است که به صورت جامع به دینامیک ، سینماتیک، و کنترل حرکت و نیرو در ربات های موازی پرداخته است. زبان این کتاب انگلیسی بوده و مشتمل بر 7 فصل میباشد. سرفصل های این کتاب عبارتند از:

1-Introduction                                                                                                                           1.1 What Is a Robot?
1.2 Robot Components
1.3 Robot Degrees-of-Freedom
1.4 Robot Classification                                                                                                              1.5 The Aims and Scope of This Book

2-Motion Representation                                                                                                          2.1 Spatial Motion Representation.                                                                                             2.2 Motion of a Rigid Body
2.3 Homogeneous Transformations                                                                                            problems

3- Kinematics
3.1 Introduction
3.2 Loop Closure Method
3.3 Kinematic Analysis of a Planar Manipulator                                                                    3.4 Kinematic Analysis of Shoulder Manipulator
3.5 Kinematic Analysis of Stewart–Gough Platform Problems                                                                                

4-Jacobians: Velocities and Static Forces                                                                            4.1 Introduction
4.2 Angular and Linear Velocities
4.3 Jacobian Matrices of a Parallel Manipulator
4.4 Velocity Loop Closure
4.5 Singularity Analysis of Parallel Manipulators
4.6 Jacobian Analysis of a Planar Manipulator
4.7 Jacobian Analysis of Shoulder Manipulator
4.8 Jacobian Analysis of the Stewart–Gough Platform
4.9 Static Forces in Parallel Manipulators                                                                               4.10 Stiffness  Analysis of Parallel Manipulators

5-Dynamics
5.1 Introduction
5.2 Dynamics of Rigid Bodies: A Review                                                                              5.3 Newton–Euler Formulation                                                                                                 5.4 Virtual Work Formulation                                                                                                   5.5 Lagrange Formulation                                                                                                          problems

6-Motion Control                                                                                                                   6.1 Introduction
6.2 Controller Topology
6.3 Motion Control in Task Space
6.4 Robust and Adaptive Control
6.5 Motion Control in Joint Space
6.6 Summary of Motion Control Techniques                                                                               6.7 Redundancy Resolution
6.8 Motion Control of a Planar Manipulator
6.9 Motion Control of the Stewart– Gough Platform
Problems

7- Force Control
7.1 Introduction
7.2 Controller Topology
7.3 Stiffness Control
7.4 Direct Force Control
7.5 Impedance Control                                                                                                     problems

تعداد صفحات: 527 صفحه             فرمت فایل:    pdf 

سال انتشار:2013                          ناشر: Taylor & Francis Group