Geometric Method for Type Synthesis of Parallel Manipulators

Beschreibung

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.
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.
Introduces the synthesis of parallel manipulators using a group-theory-based approach Provides general procedures for the synthesis of parallel manipulators Includes over 100 lower-mobility parallel manipulators with promising application prospects

Autor*in

Qinchuan Li

Themen in »Geometric Method for Type Synthesis of Parallel Manipulators«

Group Theory Type Synthesis Lower Mobility Parallel Manipulator 5-DOF 3R2T Parallel Mechanisms 4-DOF 2R2T Parallel Mechanisms Bifurcation of Schoenflies Motion 3-DOF RPR-Equivalent Parallel Mechanisms Remote Center-of-Motion Parallel Manipulators Fixed Linear Actuators Minimally Invasive Surgery Less Structural Shakiness Type Synthesis of Pan-Tilt Wrists Uncoupled Actuation

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“The intended audience for this book consists of mechanical and control researchers and engineers as well as graduate and Ph.D. students in manipulators and robotics.” (Clementina Mladenova, zbMATH 1425.70001, 2019)
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