Dynamics of Parallel Robots

Part I. Prerequisites

1. Generalities on Parallel Robots
Sébastien Briot, Wisama Khalil

2. Homogeneous Transformation Matrix
Sébastien Briot, Wisama Khalil

3. Representation of Velocities and Forces/Acceleration of a Body
Sébastien Briot, Wisama Khalil

4. Kinematic Description of Multibody Systems
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5. Geometric, Velocity and Acceleration Analysis of Open Kinematic Chains
Sébastien Briot, Wisama Khalil

6. Dynamics Principles
Sébastien Briot, Wisama Khalil

Part II. Dynamics of Rigid Parallel Robots

7. Kinematics of Parallel Robots
Sébastien Briot, Wisama Khalil

8. Dynamic Modeling of Parallel Robots
Sébastien Briot, Wisama Khalil

9. Analysis of the Degeneracy Conditions for the Dynamic Model of Parallel Robots
Sébastien Briot, Wisama Khalil

Part III. Dynamics of Flexible Parallel Robots

10. Elastodynamic Modeling of Parallel Robots
Sébastien Briot, Wisama Khalil

11. Computation of Natural Frequencies
Sébastien Briot, Wisama Khalil

12. Errata to: Dynamics of Parallel Robots
Sébastien Briot, Wisama Khalil

Nyckelord: Engineering, Vibration, Dynamical Systems, Control, Control, Robotics, Mechatronics, Mechanical Engineering