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.
1. Part 1: Introduction - p. xvi 2. Chapter 1: Motivation - p. 3 3. Chapter 2: Modular and decentralized design principles and applications - p. 17 4. Part 2: Geometric analysis - p. 47 5. Chapter 3: Methods for geometric analysis of parallel mechanisms - p. 51 6. Chapter 4: 2-DOF orientational parallel mechanisms - p. 69 7. Chapter 5: 3-DOF orientational parallel mechanism - p. 93 8. Part 3: Kinematics, dynamics, and control - p. 118 9. Chapter 6: Kinematics and dynamics of tree type systems - p. 121 10. Chapter 7: Modular algorithms for kinematics and dynamics of series-parallel hybrid robots - p. 145 11. Chapter 8: Forward dynamics with constraint embedding for dynamic simulation - p. 179 12. Chapter 9: Whole-body control - p. 195 13. Chapter 10: Whole-body trajectory optimization - p. 213 14. Part 4: Case studies on mechatronic system design - p. 229 15. Chapter 11: Charlie, a hominidae walking robot - p. 233 16. Chapter 12: Multi-legged robot Mantis - p. 261 17. Chapter 13: Sherpa, a family of wheeled-leg rovers - p. 281 18. Chapter 14: Recupera exoskeletons - p. 305 19. Chapter 15: RH5 Pedes humanoid - p. 333 20. Chapter 16: ARTER: a walking excavator robot - p. 355 21. Part 5: Software and outlook - p. 377 22. Chapter 17: Phobos: creation and maintenance of complex robot models - p. 381 23. Chapter 18: HyRoDyn: Hybrid Robot Dynamics - p. 397 24. Chapter 19: Design of a flexible bio-inspired robot for inspection of pipelines - p. 427 25. Chapter 20: Optimization of parallel mechanisms with joint limits and collision constraints - p. 451 26. Index - p. 477
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.
1. Part 1: Introduction - p. xvi 2. Chapter 1: Motivation - p. 3 3. Chapter 2: Modular and decentralized design principles and applications - p. 17 4. Part 2: Geometric analysis - p. 47 5. Chapter 3: Methods for geometric analysis of parallel mechanisms - p. 51 6. Chapter 4: 2-DOF orientational parallel mechanisms - p. 69 7. Chapter 5: 3-DOF orientational parallel mechanism - p. 93 8. Part 3: Kinematics, dynamics, and control - p. 118 9. Chapter 6: Kinematics and dynamics of tree type systems - p. 121 10. Chapter 7: Modular algorithms for kinematics and dynamics of series-parallel hybrid robots - p. 145 11. Chapter 8: Forward dynamics with constraint embedding for dynamic simulation - p. 179 12. Chapter 9: Whole-body control - p. 195 13. Chapter 10: Whole-body trajectory optimization - p. 213 14. Part 4: Case studies on mechatronic system design - p. 229 15. Chapter 11: Charlie, a hominidae walking robot - p. 233 16. Chapter 12: Multi-legged robot Mantis - p. 261 17. Chapter 13: Sherpa, a family of wheeled-leg rovers - p. 281 18. Chapter 14: Recupera exoskeletons - p. 305 19. Chapter 15: RH5 Pedes humanoid - p. 333 20. Chapter 16: ARTER: a walking excavator robot - p. 355 21. Part 5: Software and outlook - p. 377 22. Chapter 17: Phobos: creation and maintenance of complex robot models - p. 381 23. Chapter 18: HyRoDyn: Hybrid Robot Dynamics - p. 397 24. Chapter 19: Design of a flexible bio-inspired robot for inspection of pipelines - p. 427 25. Chapter 20: Optimization of parallel mechanisms with joint limits and collision constraints - p. 451 26. Index - p. 477
