Dynamics of parallel robots. From rigid bodies to flexible elements (Q502743)

The present book, based on results published by many authors as well as by the two authors of the book over the last fifteen years, treats some special problems on the dynamics of parallel robots from rigid bodies to flexible elements, concerning: the computation of the Jacobian matrices used in a dynamic model; efficient ways of reducing the computational complexity of dynamic models; singularity analysis -- the degeneracy of the dynamic model in the presence of certain types of singularities and how to avoid the dynamic model's degeneracy thanks to optimal trajectory planning; providing experimental results to show that, even though they are complex, dynamic models of parallel robots can be very accurate. The book has eleven chapters, six appendices, references and an index. The chapters are divided into three parts. Part I -- Prerequisites; Part II -- Dynamics of rigid parallel robots; Part III -- Dynamics of flexible parallel robots. Finally, it should be mentioned that in Parts II and III results comparing dynamic modelling of rigid and flexible robots and experiments are provided. After reading this book, the reader will be convinced that the intended audience for it consists of researchers, scientists and engineers, as well as master and PhD students interested in the theory and applications of parallel robots. Within the book, the reader will also find some links to free software or portions of Mathematica codes in which the presented algorithms for computing the kinematics and dynamics of some of the studied robots are already encoded.