Structural Synthesis of Parallel Robots (eBook)

Part 3: Topologies with Planar Motion of the Moving Platform

Grigore Gogu (Autor)

eBook Download: PDF

2010
XVIII, 686 Seiten
Springer Netherland (Verlag)
9789048198313 (ISBN)

Infos

'In other words, the invention of a mechanism will be to the scientific kinematist a synthetic problem, - which he can solve by the use of systematic, if also difficult, methods.' Reuleaux, F., Theoretische Kinematik, Braunschweig: Vieweg, 1875 Reuleaux, F., The Kinematics of Machinery, London: Macmillan, 1876 and New York: Dover, 1963 (translated by A.B.W. Kennedy) This book represents the third part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 (Gogu 2008a) presented the methodology of structural synthesis and the systematisation of structural solutions of simple and complex limbs with two to six degrees of connectivity systematically generated by the structural synthesis approach. Part 2 (Gogu 2009a) presented structural solutions of translational parallel robotic manipulators with two and three degrees of mobility. This book focuses on various topologies of parallel robotic manipulators with planar motion of the moving platform systematically generated by using the structural synthesis approach proposed in Part 1. The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms.

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"e;In other words, the invention of a mechanism will be to the scientific kinematist a synthetic problem, - which he can solve by the use of systematic, if also difficult, methods."e; Reuleaux, F., Theoretische Kinematik, Braunschweig: Vieweg, 1875 Reuleaux, F., The Kinematics of Machinery, London: Macmillan, 1876 and New York: Dover, 1963 (translated by A.B.W. Kennedy) This book represents the third part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 (Gogu 2008a) presented the methodology of structural synthesis and the systematisation of structural solutions of simple and complex limbs with two to six degrees of connectivity systematically generated by the structural synthesis approach. Part 2 (Gogu 2009a) presented structural solutions of translational parallel robotic manipulators with two and three degrees of mobility. This book focuses on various topologies of parallel robotic manipulators with planar motion of the moving platform systematically generated by using the structural synthesis approach proposed in Part 1. The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms.

Inhalt

Structural Synthesis of Parallel Robots 3
Contents 5
Preface 7
Acknowledgements 13
List of abbreviations and notations 14
1 Introduction 19
1.1 Terminology 19
1.1.1 Links, joints and kinematic chains 20
1.1.2 Serial, parallel and hybrid robots 27
1.2 Methodology of structural synthesis 28
1.2.1 New formulae for mobility, connectivity, redundancy and overconstraint of parallel robots 28
1.2.2 Evolutionary morphology approach 34
1.2.3 Types of parallel robots with respect to motion coupling 34
1.3 Parallel robots with planar motion of the movingplatform 37
2 Overconstrained planar parallel robots with coupled motions 45
2.1 Basic solutions 45
2.1.1 Fully-parallel solutions 45
2.1.2 Non fully-parallel solutions 95
2.2 Derived solutions 105
3 Non overconstrained planar parallel robots with coupled motions 200
3.1 Fully-parallel solutions 200
3.2 Non fully-parallel solutions 245
4 Planar parallel robots with uncoupled motions 256
4.1 Overconstrained solutions 256
4.1.1 Basic solutions 256
4.1.2 Derived solutions 268
4.2 Non overconstrained solutions 288
5 Maximally regular planar parallel robots 299
5.1 Overconstrained solutions 299
5.1.1 Basic solutions 299
5.1.2 Derived solutions 305
5.2 Non overconstrained solutions 316
6 Spatial PMs with coupled planar motion of the moving platform 323
6.1 Overconstrained solutions 323
6.1.1 Basic solutions 323
6.1.2 Derived solutions 343
6.2 Non overconstrained solutions 362
7 Spatial PMs with uncoupled planar motion of the moving platform 382
7.1 Overconstrained solutions 382
7.1.1 Basic solutions 382
7.1.2 Derived solutions 435
7.2 Non overconstrained solutions 487
8 Maximally regular SPMs with planar motion of the moving platform 543
8.1 Overconstrained solutions 543
8.1.1 Basic solutions 543
8.1.2 Derived solutions 592
8.2 Non overconstrained solutions 635
References 679
Index 697

Produkt-Details

• Erscheint lt. Verlag: 8.9.2010
• Reihe/Serie: Solid Mechanics and Its Applications
• Reihe/Serie: Solid Mechanics and Its Applications
• Zusatzinfo: XVIII, 686 p.
• Verlagsort: Dordrecht
• Sprache: englisch
• Themenwelt: Mathematik / Informatik ► Informatik ► Theorie / Studium
• Themenwelt: Naturwissenschaften
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Schlagworte: Actuator • Automation • Engineering design • Mechanics • parallel robot • robot • Robotics
• ISBN-13: 9789048198313 / 9789048198313