Type Synthesis of Parallel Mechanisms

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Springer, Oct 28, 2007 - Technology & Engineering - 276 pages
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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.

 

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Contents

Introduction
5
Structural Analysis 19
18
Type Synthesis of SingleLoop Kinematic Chains
43
Classification of Parallel Mechanisms
55
VirtualChain Approach for the Type Synthesis 63
62
6
89
ThreeDOF S Parallel Mechanisms 109
108
ThreeDOF PPR Parallel Mechanisms
125
FourDOF PPPR Parallel Mechanisms
141
Parallel Mechanisms with a Parallel Virtual Chain
213
Conclusions
223
B Mobility Analysis of Parallel Mechanisms
235
Method Based on the Displacement Group Theory
247
References
255
Index
267
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Page xii - The authors wish to acknowledge the financial support of the Natural Sciences and Engineering Research Council of Canada.
Page 257 - Di Gregorio, R. and Parenti-Castelli, V., 1999, "Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for a Pure Translational Motion," Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, September 19-23, pp.
Page 260 - Kong, X. and Gosselin, CM, 2002, "Kinematics and Singularity Analysis of a Novel Type of 3-CRR 3-DOF Translational Parallel Manipulator," The International Journal of Robotics Research, 21(9), pp.
Page 259 - General Methodology for the type synthesis of lower-mobility symmetrical parallel manipulators and several novel manipulators.
Page 257 - Kinematic Chains : An Algorithmic Approach Based on Displacement Groups, Mechanism and Machine Theory, vol. 29, pp. 1187-1204.