Author : Xianwen Kong
Publisher : Springer
Page : 280 pages
File Size : 17,68 MB
Release : 2007-10-28
Category : Technology & Engineering
ISBN : 3540719903
This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), a key issue in the creative design of a wide variety of innovative devices such as parallel manipulators, motion simulators, and haptic devices. Essential reading for researchers, developers, engineers and graduate students with interests in robotics, this book covers the classification of PMs as well as providing a large number of PMs ready to be used in practical applications.
Author : Zhen Huang
Publisher : Springer Science & Business Media
Page : 430 pages
File Size : 43,23 MB
Release : 2012-07-26
Category : Technology & Engineering
ISBN : 9400742010
This book contains mechanism analysis and synthesis. In mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validity was only proved recently, is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its latest developments are described. This principle is suitable for kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularity is stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented. In mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, is introduced in detail. Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed.
Author : Qinchuan Li
Publisher : Springer
Page : 238 pages
File Size : 46,3 MB
Release : 2019-07-03
Category : Technology & Engineering
ISBN : 9811387559
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.
Author : Chen Qiu
Publisher : Springer Nature
Page : 178 pages
File Size : 12,94 MB
Release : 2020-06-23
Category : Technology & Engineering
ISBN : 3030483134
This book addresses the design of compliant mechanisms, presenting readers with a good understanding of both the solid mechanics of flexible elements and their configuration design, based on a mechanism-equivalent approach in the framework of screw theory. The book begins with the theoretical background of screw theory, and systematically addresses both the compliance characteristics of flexible elements and their configuration design. The book then covers a broad range of compliant parallel mechanism design topics, from stiffness to constraint decomposition, from conceptual design to dimensional design, and from analysis to synthesis, as well as the large deformation problem; this is followed by both simulations and physical experiments, offering readers a solid foundation and useful tools. Given its scope and the results it presents, the book will certainly benefit and inform future research on the topic. It offers a valuable asset for researchers, developers, engineers and graduate students with an interest in compliant mechanisms, robotics and screw theory.
Author : Xin-Jun Liu
Publisher : Springer Science & Business Media
Page : 314 pages
File Size : 39,79 MB
Release : 2013-08-15
Category : Technology & Engineering
ISBN : 3642369294
Parallel Kinematics- Type, Kinematics, and Optimal Design presents the results of 15 year's research on parallel mechanisms and parallel kinematics machines. This book covers the systematic classification of parallel mechanisms (PMs) as well as providing a large number of mechanical architectures of PMs available for use in practical applications. It focuses on the kinematic design of parallel robots. One successful application of parallel mechanisms in the field of machine tools, which is also called parallel kinematics machines, has been the emerging trend in advanced machine tools. The book describes not only the main aspects and important topics in parallel kinematics, but also references novel concepts and approaches, i.e. type synthesis based on evolution, performance evaluation and optimization based on screw theory, singularity model taking into account motion and force transmissibility, and others. This book is intended for researchers, scientists, engineers and postgraduates or above with interests in robotics and advanced machine tools technology such as parallel kinematics machines (PKMs). Xinjun Liu and Jinsong Wang, professors, work at The Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University.
Author : J.P. Merlet
Publisher : Springer
Page : 392 pages
File Size : 35,7 MB
Release : 2000-07-31
Category : Computers
ISBN :
Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Author : Xianwen Kong
Publisher : National Library of Canada = Bibliothèque nationale du Canada
Page : 514 pages
File Size : 10,74 MB
Release : 2003
Category :
ISBN : 9780612802629
Author : Tao Sun
Publisher : Springer Nature
Page : 404 pages
File Size : 17,70 MB
Release : 2020-02-13
Category : Technology & Engineering
ISBN : 9811519447
This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications./div
Author : Hamid D. Taghirad
Publisher : CRC Press
Page : 537 pages
File Size : 34,49 MB
Release : 2013-02-20
Category : Technology & Engineering
ISBN : 1466599286
Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics
Author : Tobias Bruckmann
Publisher : Springer Science & Business Media
Page : 443 pages
File Size : 44,49 MB
Release : 2012-09-09
Category : Technology & Engineering
ISBN : 3642319874
Gathering presentations to the First International Conference on Cable-Driven Parallel Robots, this book covers classification and definition, kinematics, workspace analysis, cable modeling, hardware/prototype development, control and calibration and more.
