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Geometric Method for Type Synthesis of Parallel Manipulators

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Geometric Method for Type Synthesis of Parallel Manipulators/ by Qinchuan Li, Jacques M. Hervé, Wei Ye.
作者:	Li, Qinchuan.
其他作者:	Ye, Wei.
面頁冊數:	XIII, 238 p. 135 illus., 61 illus. in color.online resource. :
Contained By:	Springer Nature eBook
標題:	Applications of Mathematics. -
電子資源:	https://doi.org/10.1007/978-981-13-8755-5
ISBN:	9789811387555

Geometric Method for Type Synthesis of Parallel Manipulators
Li, Qinchuan.

Geometric Method for Type Synthesis of Parallel Manipulators[electronic resource] /by Qinchuan Li, Jacques M. Hervé, Wei Ye. - 1st ed. 2020. - XIII, 238 p. 135 illus., 61 illus. in color.online resource. - Springer Tracts in Mechanical Engineering,2195-9862. - Springer Tracts in Mechanical Engineering,.

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.

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.

ISBN: 9789811387555

Standard No.: 10.1007/978-981-13-8755-5doiSubjects--Topical Terms:

669175
Applications of Mathematics.

LC Class. No.: TJ210.2-211.495

Dewey Class. No.: 629.8

Geometric Method for Type Synthesis of Parallel Manipulators
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505 0 $a 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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