Huiping Shen's Books

Topology Design of Robot Mechanisms

By: Ting-Li Yang,Anxin Liu,Huiping Shen,LuBin Hang,Yufeng Luo,Qiong Jin

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Topology Design of Robot Mechanisms

By: Ting-Li Yang,Anxin Liu,Huiping Shen,LuBin Hang,Yufeng Luo,Qiong Jin

This book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms. The main original theoretical contributions of this book include: A. Three basic concepts · The “geometrical constraint type of axes” is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) and the fixed coordinate system (Chapter 2). · The position and orientation characteristic (POC) set is used to describe the POC of the relative motion between any two links. The POC set, derived from the unit vector set of the velocity of a link, is only depend on the topological structure of a mechanism. Therefore, it is also independent of the motion positions and the fixed coordinate system (Chapter 3). · The single open chain (SOC) unit is the base unit of the topological structure used to develop the four basic equations of the mechanism topology (Chapters 2, 4–6). B. The mechanism composition principle based on the SOC units This book proposes a mechanism composition principle, based on the SOC units, to establish a systematic theory for the unified modeling of the topology, kinematics, and dynamics of mechanisms based on the SOC units (Chapter 7). C. Four basic equations • The POC equation of serial mechanisms with 10 symbolic operation rules (Chapter 4). • The POC equation of parallel mechanisms with 14 symbolic operation rules (Chapter 5). • The general DOF formula for spatial mechanisms (Chapter 6). • The coupling degree formula for the Assur kinematic chain (Chapter 7). D. One systematic method for the topology design of robot mechanisms (Chapters 8–10) Based on the three basic concepts and the four basic equations addressed above, this book puts forward a systematic method for the topology design of parallel mechanisms, which is fundamentally different from all existing methods. Its main characteristics are as follows: • The design process includes two stages: the first is structure synthesis, which derives many structure types; the second involves the performance analysis, classification and optimization of structure types derived from the first stage. • The design operation is independent of the motion positions and the fixed coordinate system. Therefore, the proposed method is essentially a geometrical method, which ensures the full-cycle DOF and the generality of geometric conditions of mechanism existence. • Each individual design step follows an explicit formula or the guidelines for design criteria, making the operation simple, feasible and reproducible. In addition, the topology design of the SCARA PMs is studied in detail to demonstrate the proposed method (Chapter 10).

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Page Count

249

Publisher

Springer

Published Date

ISBN 10

9811055327

ISBN 13

9789811055324

Parallel PnP Robots

Parametric Modeling, Performance Evaluation and Design Optimization

By: Guanglei Wu,Huiping Shen

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Parallel PnP Robots

Parametric Modeling, Performance Evaluation and Design Optimization

By: Guanglei Wu,Huiping Shen

This book discusses the parametric modeling, performance evaluation, design optimization and comparative study of the high-speed, parallel pick-and-place robots. It collects the modeling methodology, evaluation criteria and design guidelines for parallel PnP robots to provide a systematic analysis method for robotic developers. Furthermore, it gathers the research results previously scattered in many prestigious international journals and conference proceedings and methodically edits them and presents them in a unified form. The book is of interest to researchers, R&D engineers and graduate students in industrial parallel robotics who wish to learn the core principles, methods, algorithms, and applications.

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251

Publisher

Springer Nature

Published Date

ISBN 10

9811566712

ISBN 13

9789811566714

Robust Receding Horizon Control for Networked and Distributed Nonlinear Systems

By: Huiping Li,Yang Shi

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Robust Receding Horizon Control for Networked and Distributed Nonlinear Systems

By: Huiping Li,Yang Shi

This book offers a comprehensive, easy-to-understand overview of receding-horizon control for nonlinear networks. It presents novel general strategies that can simultaneously handle general nonlinear dynamics, system constraints, and disturbances arising in networked and large-scale systems and which can be widely applied. These receding-horizon-control-based strategies can achieve sub-optimal control performance while ensuring closed-loop stability: a feature attractive to engineers. The authors address the problems of networked and distributed control step-by-step, gradually increasing the level of challenge presented. The book first introduces the state-feedback control problems of nonlinear networked systems and then studies output feedback control problems. For large-scale nonlinear systems, disturbance is considered first, then communication delay separately, and lastly the simultaneous combination of delays and disturbances. Each chapter of this easy-to-follow book not only proposes and analyzes novel control algorithms and/or strategies, but also rigorously develops provably correct design conditions. It also provides concise, illustrative examples to demonstrate the implementation procedure, making it invaluable both for academic researchers and engineering practitioners.

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Page Count

194

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Springer

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ISBN 10

3319482904

ISBN 13

9783319482903

Book's by Huiping Shen

Topology Design of Robot Mechanisms

Topology Design of Robot Mechanisms

Parallel PnP Robots

Parallel PnP Robots

Robust Receding Horizon Control for Networked and Distributed Nonlinear Systems

Robust Receding Horizon Control for Networked and Distributed Nonlinear Systems

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