Geometric method for type synthesis of parallel manipulators / / Qinchuan Li, Jacques M. Hervé, Wei Ye
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| Autore: |
Li Qinchuan
|
| Titolo: |
Geometric method for type synthesis of parallel manipulators / / Qinchuan Li, Jacques M. Hervé, Wei Ye
|
| Pubblicazione: | Singapore : , : Springer Singapore : , : Imprint : Springer, , 2020 |
| Edizione: | 1st edition 2020. |
| Descrizione fisica: | 1 online resource (XIII, 238 p. 135 illus., 61 illus. in color.) |
| Disciplina: | 629.8 |
| Soggetto topico: | Manipulators (Mechanism) |
| Persona (resp. second.): | HervéJacques M |
| YeWei (Mechanical engineer ) | |
| Nota di contenuto: | 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. |
| Sommario/riassunto: | 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. |
| Titolo autorizzato: | Geometric Method for Type Synthesis of Parallel Manipulators |
| ISBN: | 981-13-8755-9 |
| Formato: | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione: | Inglese |
| Record Nr.: | 9910482975103321 |
| Lo trovi qui: | Univ. Federico II |
| Opac: | Controlla la disponibilità qui |
Serie:
Springer Tracts in Mechanical Engineering, . 2195-9862