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Record Nr. |
UNINA9910482975103321 |
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Autore |
Li Qinchuan |
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Titolo |
Geometric method for type synthesis of parallel manipulators / / Qinchuan Li, Jacques M. Hervé, Wei Ye |
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Pubbl/distr/stampa |
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Singapore : , : Springer Singapore : , : Imprint : Springer, , 2020 |
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ISBN |
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Edizione |
[1st edition 2020.] |
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Descrizione fisica |
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1 online resource (XIII, 238 p. 135 illus., 61 illus. in color.) |
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Collana |
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Springer Tracts in Mechanical Engineering, , 2195-9862 |
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Disciplina |
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Soggetti |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Nota di contenuto |
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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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Sommario/riassunto |
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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 |
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tool to develop new types of lower-mobility parallel manipulators independently. |
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