Structural Synthesis of Parallel Robots : Methodology

Gogu, Grigore

Springer（2010/10発売）

• 製本 Paperback:紙装版/ペーパーバック版／ページ数 724 p.
• 言語 ENG
• 商品コード 9789048172849
• DDC分類 629

Full Description

This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. Part 1 presents the methodology proposed for structural synthesis. Part 2 presents the various topologies of parallel robots generated by this systematic approach. Many solutions are presented here for the first time. The book will contribute to a widespread implementation of these solutions in industrial products.

Contents

From the contents
Preface. 1. Structural parameters of parallel robots. 2. Structural synthesis approach of uncoupled and fully-isotropic parallel manipulators. 3. Decoupled, uncoupled and fully-isotropic parallel robots with screw motion. 4. Decoupled, uncoupled and fully-isotropic parallel wrists. 5. Decoupled, uncoupled and fully-isotropic parallel robots with planar motion. 6. Decoupled, uncoupled and fully-isotropic parallel robots with three degrees of freedom and non planar motion. 7. Decoupled, uncoupled and fully-isotropic translational parallel robots. 8. Decoupled, uncoupled and fully-isotropic parallel robots with Schönflies motion. 9. Decoupled, uncoupled and fully-isotropic parallel robots with four degrees of freedom T2R2-type. 10. Decoupled, uncoupled and fully-isotropic parallel robots with four degrees of freedom T1R3-type. 11. Decoupled, uncoupled and fully-isotropic parallel robots with five degrees of freedom T3R2-type. 12. Decoupled, uncoupled and fully-isotropic parallel robots with five degrees of freedom T2R3-type. 13. Decoupled, uncoupled and fully-isotropic parallel robots with six degrees of freedom.