Structural Synthesis of Parallel Robots: Part 1: Methodology / Edition 1

by Grigore Gogu

Overview

This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. . The originality of this work resides in combining the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a systematic approach of structural synthesis. This work is organized in two parts published in two distinct books. Part 1 presents the methodology proposed for structural synthesis and Part 2 the various topologies of parallel robots generated by this systematic approach. 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.

Product Details

ISBN-13:	9781402051029
Publisher:	Springer Netherlands
Publication date:	12/10/2007
Series:	Solid Mechanics and Its Applications , #149
Edition description:	2008
Pages:	706
Product dimensions:	6.10(w) x 9.25(h) x 0.05(d)

Table of 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.

Editorial Reviews

From the reviews:

"The book presents the synthesis methodology and solutions for parallel manipulators. … The book gives the definitions of many terms in the area of mechanisms and robotics using the IFToMM terminology. The presented material summarizes research activities and some recent scientific advances in the structural synthesis of parallel robots. … this book can be considered as a very useful learning tool for scientists and engineers from academia and industry." (Clementina Mladenova, Zentralblatt MATH, Vol. 1156, 2009)

From the Publisher