Ebook: Theory of Parallel Mechanisms
- Tags: Machinery and Machine Elements, Structural Mechanics, Control Robotics Mechatronics
- Series: Mechanisms and Machine Science 6
- Year: 2013
- Publisher: Springer Netherlands
- Edition: 1
- Language: English
- pdf
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.
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.
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.
Content:
Front Matter....Pages i-xiii
Basics of Screw Theory....Pages 1-16
Dependency and Reciprocity of Screws....Pages 17-45
Mobility Analysis Part-1....Pages 47-69
Mobility Analysis Part-2....Pages 71-133
Kinematic Influence Coefficient and Kinematics Analysis....Pages 135-162
Full-Scale Feasible Instantaneous Screw Motion....Pages 163-216
Special Configuration of Mechanisms....Pages 217-287
Dynamic Problems of Parallel Mechanisms....Pages 289-324
Constraint Screw-Based Method for Type Synthesis....Pages 325-364
Digital Topology Theory of Kinematic Chains and Atlas Database....Pages 365-417
Back Matter....Pages 419-421
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.
Content:
Front Matter....Pages i-xiii
Basics of Screw Theory....Pages 1-16
Dependency and Reciprocity of Screws....Pages 17-45
Mobility Analysis Part-1....Pages 47-69
Mobility Analysis Part-2....Pages 71-133
Kinematic Influence Coefficient and Kinematics Analysis....Pages 135-162
Full-Scale Feasible Instantaneous Screw Motion....Pages 163-216
Special Configuration of Mechanisms....Pages 217-287
Dynamic Problems of Parallel Mechanisms....Pages 289-324
Constraint Screw-Based Method for Type Synthesis....Pages 325-364
Digital Topology Theory of Kinematic Chains and Atlas Database....Pages 365-417
Back Matter....Pages 419-421
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