03692nam 22006015 450 991048297510332120251113200201.0981-13-8755-910.1007/978-981-13-8755-5(CKB)4100000008876927(DE-He213)978-981-13-8755-5(MiAaPQ)EBC5811818(PPN)243770642(EXLCZ)99410000000887692720190703d2020 u| 0engurnn#---mamaatxtrdacontentcrdamediacrrdacarrierGeometric Method for Type Synthesis of Parallel Manipulators /by Qinchuan Li, Jacques M. Hervé, Wei Ye1st ed. 2020.Singapore :Springer Nature Singapore :Imprint: Springer,2020.1 online resource (XIII, 238 p. 135 illus., 61 illus. in color.)Springer Tracts in Mechanical Engineering,2195-9870981-13-8754-0 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.Springer Tracts in Mechanical Engineering,2195-9870Control engineeringRoboticsAutomationMechanics, AppliedMathematicsControl, Robotics, AutomationEngineering MechanicsApplications of MathematicsControl engineering.Robotics.Automation.Mechanics, Applied.Mathematics.Control, Robotics, Automation.Engineering Mechanics.Applications of Mathematics.629.8Li Qinchuanauthttp://id.loc.gov/vocabulary/relators/aut1226757Hervé Jacques Mauthttp://id.loc.gov/vocabulary/relators/autYe Wei(Mechanical engineer )authttp://id.loc.gov/vocabulary/relators/autBOOK9910482975103321Geometric Method for Type Synthesis of Parallel Manipulators2848477UNINA