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...
محفوظ في:
| المؤلف الرئيسي: | |
|---|---|
| التنسيق: | Livre numérique |
| اللغة: | Anglais |
| منشور في: |
Dordrecht :
Springer Netherlands
[20..].
Cham : Springer Nature |
| الطبعة: | 1st ed. 2012. |
| سلاسل: | Solid Mechanics and Its Applications
183 |
| الموضوعات: | |
| الوصول للمادة أونلاين: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| ملاحظة: |
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 |
جدول المحتويات:
- 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
- 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