Geometric Method for Type Synthesis of Parallel Manipulators

✍ Scribed by Qinchuan Li, Jacques M. Hervé, Wei Ye

• Publisher: Springer Singapore
• Year: 2020
• Tongue: English
• Leaves: 242
• Series: Springer Tracts in Mechanical Engineering
• Edition: 1st ed.
• Category: Library

✦ Synopsis

This book focuses on the synthesis of lower-mobility parallel manipulators, presenting a group-theory-based method that has the advantage of being geometrically intrinsic. Rotations and translations of a rigid body as well as a combination of the two can be expressed and handled elegantly using the group algebraic structure of the set of rigid-body displacements. The book gathers the authors’ research results, which were previously scattered in various journals and conference proceedings, presenting them in a unified form. Using the presented method, it reveals numerous novel architectures of lower-mobility parallel manipulators, which are of interest to those in the robotics community. More importantly, readers can use the method and tool to develop new types of lower-mobility parallel manipulators independently.

✦ Table of Contents

Front Matter ....Pages i-xiii
Introduction (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 1-21
Fundamental of Group Theory (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 23-35
Rotation and Displacements of Rigid Body (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 37-54
Lie Group Based Method for Type Synthesis of Parallel Mechanisms (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 55-71
Type Synthesis of 5-DOF 3R2T Parallel Mechanism (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 73-85
Type Synthesis of 4-DOF 2R2T Parallel Mechanisms (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 87-99
Type Synthesis of 4-DOF Parallel Mechanisms with Bifurcation of Schoenflies Motion (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 101-125
Type Synthesis of 3-DOF RPR-Equivalent Parallel Mechanisms (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 127-150
Type Synthesis of 3-DOF PU-Equivalent Parallel Mechanisms (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 151-179
Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators with Fixed Linear Actuators for Minimally Invasive Surgery (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 181-200
Type Synthesis of Non-overconstrained 3-DOF Translational Parallel Mechanisms with Less Structural Shakiness (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 201-221
Type Synthesis of Pan-Tilt Wrists with Uncoupled Actuation (Qinchuan Li, Jacques M. Hervé, Wei Ye)....Pages 223-238

✦ Subjects

Engineering; Control, Robotics, Mechatronics; Theoretical and Applied Mechanics; Applications of Mathematics