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...
| Κύριος συγγραφέας: | |
|---|---|
| Συγγραφή απο Οργανισμό/Αρχή: | |
| Μορφή: | Ηλεκτρονική πηγή Ηλ. βιβλίο |
| Γλώσσα: | English |
| Έκδοση: |
Dordrecht :
Springer Netherlands,
2012.
|
| Σειρά: | Solid Mechanics and Its Applications,
183 |
| Θέματα: | |
| Διαθέσιμο Online: | Full Text via HEAL-Link |
Πίνακας περιεχομένων:
- 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
- 5.1 Overconstrained solutions with coupled motions
- 5.1.1 Fully-parallel solutions
- 5.1.2 Non fully-parallel solutions
- 5.2 Overconstrained solutions with decoupled motions
- 5.2.1 Fully-parallel solutions
- 5.2.2 Non fully-parallel solutions
- 5.3 Overconstrained solutions with uncoupled motions
- 5.3.1 Fully-parallel solutions
- 5.3.2 Non fully-parallel solutions
- 5.4 Overconstrained maximally regular solutions
- 5.4.1 Fully-parallel solutions
- 5.4.2 Non fully-parallel solutions
- 6 Non overconstrained T2R1-type spatial parallel manipulators
- 6.1 Non overconstrained solutions with coupled motions
- 6.1.1 Fully-parallel solutions
- 6.1.2 Non fully-parallel solutions
- 6.2 Non overconstrained solutions with decoupled motions
- 6.2.1 Fully-parallel solutions
- 6.2.2 Non fully-parallel solutions
- 6.3 Non overconstrained solutions with uncoupled motions
- 6.3.1 Fully-parallel solutions
- 6.3.2 Non fully-parallel solutions
- 6.4 Non overconstrained maximally regular solutions
- 6.4.1 Fully-parallel solutions
- 6.4.2 Non fully-parallel solutions
- 7 T1R2-type spatial parallel manipulators
- 7.1 T1R2-type spatial parallel manipulators with coupled motions
- 7.1.1 Overconstrained solutions
- 7.1.2 Non overconstrained solutions
- 7.2 T1R2-type spatial parallel manipulators with decoupled motions
- 7.2.1 Overconstrained solutions
- 7.2.2 Non overconstrained solutions
- 7.3 T1R2-type spatial parallel manipulators with uncoupled motions
- 7.3.1 Overconstrained solutions
- 7.3.2 Non overconstrained solutions
- 7.4 Maximally regular T1R2-type spatial parallel manipulators
- 7.4.1 Overconstrained solutions
- 7.4.2 Non overconstrained solutions
- 8 Parallel wrists with three degrees of freedom
- 8.1 Parallel wrists with coupled motions
- 8.1.1 Overconstrained solutions
- 8.1.2 Non overconstrained solutions
- 8.2 Parallel wrists with decoupled motions
- 8.2.1 Overconstrained solutions
- 8.2.2 Non overconstrained solutions
- 8.3 Parallel wrists with uncoupled motions
- 8.3.1 Overconstrained solutions
- 8.3.2 Non overconstrained solutions
- 8.4 Maximally regular parallel wrists
- 8.4.1 Overconstrained solutions
- 8.4.2 Non overconstrained solutions
- 9 Parallel mechanisms with dependent motions of the moving platform
- 9.1 Solutions with two degrees of freedom
- 9.1.1 Overconstrained solutions
- 9.1.2 Non overconstrained solutions
- 9.2 Solutions with three degrees of freedom
- 9.1.1 Overconstrained solutions
- 9.1.2 Non overconstrained solutions
- References
- Index.
