Structural Synthesis of Parallel Robots
Description
This is the first book of robotics presenting solutions of uncoupled and fully-isotropic PMs and a method for their structural synthesis. Non-redundant/redundant, overconstrained/isostatic solutions of uncoupled and fully-isotropic PMs with elementary/complex legs actuated by linear/rotary actuators with/without idle mobility and two to six DoFs are present in a systematic approach of structural synthesis. These solutions are derived from families of PMs with decoupled motions.
Reviews / Votes
From the reviews:
"The book presents the synthesis methodology and solutions for parallel manipulators. . The book gives the definitions of many terms in the area of mechanisms and robotics using the IFToMM terminology. The presented material summarizes research activities and some recent scientific advances in the structural synthesis of parallel robots. . this book can be considered as a very useful learning tool for scientists and engineers from academia and industry." (Clementina Mladenova, Zentralblatt MATH, Vol. 1156, 2009)
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Content
Preface. 1. Structural parameters of parallel robots. 2. Structural synthesis approach of uncoupled and fully-isotropic parallel manipulators. 3. Decoupled, uncoupled and fully-isotropic parallel robots with screw motion. 4. Decoupled, uncoupled and fully-isotropic parallel wrists. 5. Decoupled, uncoupled and fully-isotropic parallel robots with planar motion. 6. Decoupled, uncoupled and fully-isotropic parallel robots with three degrees of freedom and non planar motion. 7. Decoupled, uncoupled and fully-isotropic translational parallel robots. 8. Decoupled, uncoupled and fully-isotropic parallel robots with Schönflies motion. 9. Decoupled, uncoupled and fully-isotropic parallel robots with four degrees of freedom T2R2-type. 10. Decoupled, uncoupled and fully-isotropic parallel robots with four degrees of freedom T1R3-type. 11. Decoupled, uncoupled and fully-isotropic parallel robots with five degrees of freedom T3R2-type. 12. Decoupled, uncoupled and fully-isotropic parallel robots with five degrees of freedom T2R3-type. 13. Decoupled, uncoupled and fully-isotropic parallel robots with six degrees of freedom.