Structural synthesis of parallel robots. Part 4, Other topologies with two and three degrees of freedom
This book represents the fourth 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...
Guardat en:
| Autor principal: | |
|---|---|
| Format: | Livre numérique |
| Idioma: | Anglais |
| Publicat: |
Dordrecht :
Springer Netherlands
[20..].
Cham : Springer Nature |
| Edició: | 1st ed. 2012. |
| Col·lecció: | Solid Mechanics and Its Applications
183 |
| Matèries: | |
| Accés en línia: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| Nota: |
Numérisation de l'édition de Dordrecht : Springer, 2012 Pagination de l'édition imprimée : XX-626 p. Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Variante du titre: | Other topologies with two and three degrees of freedom |
| Edition sous un autre format: | • Structural synthesis of parallel robots, Part 4, Other topologies with two and three degrees of freedom, Grigore Gogu, Dordrecht, Springer, 2012, 1 vol. (XX-626 p.), Solid Mechanics and Its Applications, 978-94-007-2674-1 |
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| 008 | 160105t20XX2012xxe ||| |||| 00| 0 eng d | ||
| 009 | PPN190542608 | ||
| 020 | |a 9789400726758 (en ligne) | ||
| 041 | 0 | |a eng | |
| 082 | |a 629.8 |z fre | ||
| 082 | |a 620.1 | ||
| 100 | 1 | |a Gogu, Grigore. | |
| 240 | 1 | 0 | |a Other topologies with two and three degrees of freedom |
| 245 | 1 | 0 | |a Structural synthesis of parallel robots. |n Part 4, |p Other topologies with two and three degrees of freedom |c by Grigore Gogu. |
| 250 | |a 1st ed. 2012. | ||
| 256 | |a Données textuelles | ||
| 260 | |a Dordrecht : |b Springer Netherlands. | ||
| 260 | |a Cham : |b Springer Nature, |c [20..]. | ||
| 490 | 0 | |a Solid Mechanics and Its Applications |v 183 |x 2214-7764 | |
| 500 | |a Numérisation de l'édition de Dordrecht : Springer, 2012 | ||
| 500 | |a Pagination de l'édition imprimée : XX-626 p. | ||
| 500 | |a Archives Springer e-books (Licence nationale) | ||
| 500 | |a Archives Springer e-books (Licence nationale) | ||
| 504 | |a Bibliogr. Index | ||
| 505 | 1 | |a Preface Acknowledgements List of abbreviations and notations 1 Introduction 1.1 Terminology 1.1 Links, joints and kinematic chains 1.2 Serial, parallel and hybrid robots 1.2 Methodology of structural synthesis 1.2.1 New formulae for mobility, connectivity, redundancy and overconstraint of parallel robots 1.2.2 Evolutionary morphology approach 1.2.3 Types of parallel robots with respect to motion coupling 2 Parallel mechanisms with cylindrical motion of the moving platform 2.1 T1R1-type parallel mechanisms with coupled cylindrical motion 2.1.1 Overconstrained solutions 2.1.2 Non overconstrained solutions 2.2 T1R1-type parallel mechanisms with decoupled cylindrical motion 2.2.1 Overconstrained solutions 2.2.2 Non overconstrained solutions 2.3 T1R1-type parallel mechanisms with uncoupled cylindrical motion 2.3.1 Overconstrained solutions 2.3.2 Non overconstrained solutions 2.4 Maximally regular parallel mechanisms with cylindrical motion 2.4.1 Overconstrained solutions 2.4.2 Non overconstrained solutions 3 Other T1R1-type parallel mechanisms 3.1 T1R1-type parallel mechanisms with coupled motions 3.1.1 Overconstrained solutions 3.1.2 Non overconstrained solutions 3.2 T1R1-type parallel mechanisms with decoupled motions 3.2.1 Overconstrained solutions 3.2.2 Non overconstrained solutions 3.3 T1R1-type parallel mechanisms with uncoupled motions 3.3.1 Overconstrained solutions 3.3.2 Non overconstrained solutions 3.4 Maximally regular T1R1-type parallel mechanisms 3.4.1 Overconstrained solutions 3.4.2 Non overconstrained solutions 4 Parallel wrists with two degrees of freedom 4.1 R2-type parallel wrists with coupled motions 4.1.1 Overconstrained solutions 4.1.2 Non overconstrained solutions 4.2 R2-type parallel wrists with decoupled motions 4.2.1 Overconstrained solutions 4.2.2 Non overconstrained solutions 4.3 R2-type parallel wrists with uncoupled motions 4.3.1 Overconstrained solutions 4.3.2 Non overconstrained solutions 4.4 Maximally regular R2-type parallel wrists 4.4.1 Overconstrained solutions 4.4.2 Non overconstrained solutions 5 T2R1-type overconstrained spatial parallel manipulators | |
| 505 | 0 | |a Preface -- Acknowledgements -- List of abbreviations and notations -- 1 Introduction -- 1.1 Terminology -- 1.1 Links, joints and kinematic chains -- 1.2 Serial, parallel and hybrid robots -- 1.2 Methodology of structural synthesis -- 1.2.1 New formulae for mobility, connectivity, redundancy and overconstraint of parallel robots -- 1.2.2 Evolutionary morphology approach -- 1.2.3 Types of parallel robots with respect to motion coupling -- 2 Parallel mechanisms with cylindrical motion of the moving platform -- 2.1 T1R1-type parallel mechanisms with coupled cylindrical motion -- 2.1.1 Overconstrained solutions -- 2.1.2 Non overconstrained solutions -- 2.2 T1R1-type parallel mechanisms with decoupled cylindrical motion -- 2.2.1 Overconstrained solutions -- 2.2.2 Non overconstrained solutions -- 2.3 T1R1-type parallel mechanisms with uncoupled cylindrical motion -- 2.3.1 Overconstrained solutions -- 2.3.2 Non overconstrained solutions -- 2.4 Maximally regular parallel mechanisms with cylindrical motion -- 2.4.1 Overconstrained solutions -- 2.4.2 Non overconstrained solutions -- 3 Other T1R1-type parallel mechanisms -- 3.1 T1R1-type parallel mechanisms with coupled motions -- 3.1.1 Overconstrained solutions -- 3.1.2 Non overconstrained solutions -- 3.2 T1R1-type parallel mechanisms with decoupled motions -- 3.2.1 Overconstrained solutions -- 3.2.2 Non overconstrained solutions -- 3.3 T1R1-type parallel mechanisms with uncoupled motions -- 3.3.1 Overconstrained solutions -- 3.3.2 Non overconstrained solutions -- 3.4 Maximally regular T1R1-type parallel mechanisms -- 3.4.1 Overconstrained solutions -- 3.4.2 Non overconstrained solutions -- 4 Parallel wrists with two degrees of freedom -- 4.1 R2-type parallel wrists with coupled motions -- 4.1.1 Overconstrained solutions -- 4.1.2 Non overconstrained solutions -- 4.2 R2-type parallel wrists with decoupled motions -- 4.2.1 Overconstrained solutions -- 4.2.2 Non overconstrained solutions -- 4.3 R2-type parallel wrists with uncoupled motions -- 4.3.1 Overconstrained solutions -- 4.3.2 Non overconstrained solutions -- 4.4 Maximally regular R2-type parallel wrists -- 4.4.1 Overconstrained solutions -- 4.4.2 Non overconstrained solutions -- 5 T2R1-type overconstrained spatial parallel manipulators | |
| 506 | |a Accès en ligne pour les établissements français bénéficiaires des licences nationales | ||
| 506 | |a Accès soumis à abonnement pour tout autre établissement | ||
| 506 | |a Conditions particulières de réutilisation pour les bénéficiaires des licences nationales. chttps://www.licencesnationales.fr/springer-nature-ebooks-contrat-licence-ln-2017 | ||
| 520 | |a This book represents the fourth 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. Part 3 (Gogu 2010a) focussed on structural solutions of parallel robotic manipulators with planar motion of the moving platform. This book offers other topologies of parallel robotic manipulators with two and three degrees of freedom 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 robotic manipulators. This is the first book of robotics presenting various solutions of coupled, decoupled, uncoupled, fully-isotropic and maximally regular parallel robotic manipulators with two and three degrees of freedom systematically generated by using the structural synthesis approach proposed in Part 1. Non-redundant/redundant, overconstrained/isostatic solutions with simple/complex limbs actuated by linear/rotary actuators with/without idle mobilities are proposed. Many solutions are presented here for the first time in the literature. The author had to make a difficult and challenging choice between protecting these solutions through patents, and releasing them directly into the public domain. The second option was adopted by publishing them in various recent scientific publications and mainly in this book. In this way, the author hopes to contribute to a rapid and widespread implementation of these solutions in future industrial products. | ||
| 538 | |a Nécessite un lecteur de fichier PDF | ||
| 650 | |a Robotique | ||
| 650 | |a Manipulateurs (mécanismes) | ||
| 776 | 0 | |0 158369289 |t Structural synthesis of parallel robots |h Part 4 |i Other topologies with two and three degrees of freedom |f Grigore Gogu |c Dordrecht |n Springer |d 2012 |p 1 vol. (XX-626 p.) |s Solid Mechanics and Its Applications |z 978-94-007-2674-1 | |
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| 856 | 4 | |u https://revue-sommaire.istex.fr/ark:/67375/8Q1-1C0JVN5C-2 |z Accès sur la plateforme Istex | |
| 856 | 4 | |5 452349901:748146121 |u https://ezproxy.univ-orleans.fr/login?url=https://dx.doi.org/10.1007/978-94-007-2675-8 |z Accès Université d'Orléans | |
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| 997 | |0 950277 |1 Livre numérique |a Ressource numérique |b INSA |b ENSA |c 0/Bibliothèque numérique/ |c 1/Bibliothèque numérique/Autre ressource numérique/ | ||