Structural Synthesis of Parallel Robots

Part 1: Methodology
2008
ISBN: 978-1-4020-5102-9
Verlag: Springer Netherlands

Buch, Englisch, Band 149, 706 Seiten, Format (B × H): 160 mm x 241 mm, Gewicht: 1244 g

Reihe: Solid Mechanics and Its Applications

This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. Part 1 presents the methodology proposed for structural synthesis. Part 2 presents the various topologies of parallel robots generated by this systematic approach. Many solutions are presented here for the first time. The book will contribute to a widespread implementation of these solutions in industrial products.

Zielgruppe

Research

Autoren/Hrsg.

Gogu, Grigore

Fachgebiete

• Technische Wissenschaften Maschinenbau | Werkstoffkunde Maschinenbau Konstruktionslehre, Bauelemente, CAD
• Technische Wissenschaften Technik Allgemein Konstruktionslehre und -technik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik

Inhaltsverzeichnis

From the contents

Preface. 1. Structural parameters of parallel robots. 2. Structural synthesis approach of uncoupled and fully-isotropic parallel manipulators. 3. Decoupled, uncoupled and fully-isotropic parallel robots with screw motion. 4. Decoupled, uncoupled and fully-isotropic parallel wrists. 5. Decoupled, uncoupled and fully-isotropic parallel robots with planar motion. 6. Decoupled, uncoupled and fully-isotropic parallel robots with three degrees of freedom and non planar motion. 7. Decoupled, uncoupled and fully-isotropic translational parallel robots. 8. Decoupled, uncoupled and fully-isotropic parallel robots with Schönflies motion. 9. Decoupled, uncoupled and fully-isotropic parallel robots with four degrees of freedom T2R2-type. 10. Decoupled, uncoupled and fully-isotropic parallel robots with four degrees of freedom T1R3-type. 11. Decoupled, uncoupled and fully-isotropic parallel robots with five degrees of freedom T3R2-type. 12. Decoupled, uncoupled and fully-isotropic parallel robots with five degrees of freedom T2R3-type. 13. Decoupled, uncoupled and fully-isotropic parallel robots with six degrees of freedom.