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Geometric Method for Type Synthesis of Parallel Manipulators / by Qinchuan Li, Jacques M. Hervé, Wei Ye.

Li, Qinchuan.; Hervé, Jacques M.; Ye, Wei.
2020
TJ211
Available Online
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Title
Geometric Method for Type Synthesis of Parallel Manipulators / by Qinchuan Li, Jacques M. Hervé, Wei Ye.
Author
Li, Qinchuan.
ISBN
9789811387555 (electronic book)
9811387559 (electronic book)
9789811387548
Published
Singapore : Springer, 2020.
Language
English
Description
1 online resource (xiii, 238 pages) : illustrations.
Item Number
10.1007/978-981-13-8
Call Number
TJ211
Dewey Decimal Classification
629.8
Summary
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.
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Access limited to authorized users.
Added Author
Hervé, Jacques M.
Ye, Wei.
Series
Springer tracts in mechanical engineering.
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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.

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