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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.
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.
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.
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