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" Geometric Method for Type Synthesis of Parallel Manipulators / "
Qinchuan Li, Jacques M. Hervé, Wei Ye.
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BL
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| Record Number
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890447
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| Main Entry
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Li, Qinchuan
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| Title & Author
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Geometric Method for Type Synthesis of Parallel Manipulators /\ Qinchuan Li, Jacques M. Hervé, Wei Ye.
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| Publication Statement
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Singapore :: Springer ;Wuhan, China :: Huazhong University of Science and Technology,, [2020]
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| Series Statement
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Springer Tracts in Mechanical Engineering
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| Page. NO
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1 online resource (xiii, 238 pages) :: illustrations (some color).
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| ISBN
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9789811387555
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: 9811387559
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9789811387548
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| Bibliographies/Indexes
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Includes bibliographical references.
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| Contents
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Introduction -- Fundamentals of group theory -- Rotation and displacements of rigid body -- Lie group based method for type synthesis of parallel mechanisms -- Type Synthesis of 5-DOF 3R2T Parallel Mechanisms -- Type Synthesis of 4-DOF 2R2T Parallel Mechanisms -- Type Synthesis of 4-DOF Parallel Mechanisms with Bifurcation of Schoenflies Motion -- Type Synthesis of 3-DOF RPR-equivalent Parallel Mechanisms -- Type Synthesis of 3-DOF PU-equivalent Parallel Mechanisms -- Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators with Fixed Linear Actuators for Minimally Invasive Surgery -- Type synthesis of Non-overconstrainted 3-DOF Translational parallel mechanisms with Less Structural Shakiness -- Type synthesis of Pan-Tilt Wrists with Uncoupled Actuation.
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| Abstract
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This book focuses on the synthesis of lower-mobility parallel manipulators, presenting a group-theory-based method that has the advantage of being geometrically intrinsic. Rotations and translations of a rigid body as well as a combination of the two can be expressed and handled elegantly using the group algebraic structure of the set of rigid-body displacements. The book gathers the authors research results, which were previously scattered in various journals and conference proceedings, presenting them in a unified form. Using the presented method, it reveals numerous novel architectures of lower-mobility parallel manipulators, which are of interest to those in the robotics community. More importantly, readers can use the method and tool to develop new types of lower-mobility parallel manipulators independently.
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| Subject
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Manipulators (Mechanism)
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| Subject
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Manipulators (Mechanism)
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| Dewey Classification
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629.8933
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| LC Classification
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TJ211.L52 2020
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| Added Entry
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Hervé, Jacques M.
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Ye, Wei
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