New Frontiers in Parallel Robots

• Other Authors: Shao, Zhufeng (Editor), Zhang, Dan (Editor), Caro, Stéphane (Editor)
• Format: Electronic Book Chapter
• Language: English
• Published: Basel MDPI - Multidisciplinary Digital Publishing Institute 2023
• Subjects: Information technology industries; parallel kinematic machine tool; over-constrained system; elasto-dynamic model; screw theory; PKM; helical milling; cutting stability; surface quality; process optimization; kinematic calibration; parallel robot; parameter estimation; error model; pose accuracy; cable-driven parallel robot; kinematics; dynamics; workspace; cable-driven parallel manipulator (CDPM); high-speed manipulator; large-span structure; structural optimization; genetic algorithm (GA); ideal-point method; impedance control; fractional calculus; half-order derivative; parallel kinematics machine; KDHD; Stewart platform; cable-based parallel robot; gangue sorting robot; pick-and-place operations; trajectory planning; tracking control; robustness; singularity analysis; geometric optimization; single-incision laparoscopic surgery; static equilibrium workspace; under-constrained cable-driven robot; consistent solution strategy; 2UPR-RPU parallel manipulator; over-constrained parallel manipulator; geometric error; deformation; sensitivity analysis; n/a
• Online Access: DOAB: download the publication; DOAB: description of the publication

The parallel robot, a kind of robot that utilizes multiple closed-loop branch chains jointly connecting and driving the moving platform, is an important part of modern robotics, with outstanding advantages of high stiffness, high precision and high speed. Parallel robots can efficiently change performance through the configuration of synthesis and design. The rich variety of configurations and the existence of a large number of passive joints also brought abundant challenges and research topics to the modeling, optimization, calibration and trajectory planning of parallel robots. This reprint focuses on the research frontiers of parallel robots from fundamental theory to application technology. Special attention is paid to kinematics/dynamics modeling, error modeling and calibration, impedance control and the machining stability of parallel robots. Notably, a considerable portion of the book focuses on cable-driven parallel robots (CDPRs) that integrate cable-driven kinematic chains and parallel mechanism theory. CDPRs inherit the high dynamics and heavy load capacities of parallel robots and significantly improve the workspace, cost and energy efficiency simultaneously, following the cutting-edge trend of rigid-flexible fusion.