Topology Design of Robot Mechanisms

• Main Authors: Yang, Ting-Li (Author, http://id.loc.gov/vocabulary/relators/aut), Liu, Anxin (http://id.loc.gov/vocabulary/relators/aut), Shen, Huiping (http://id.loc.gov/vocabulary/relators/aut), Hang, LuBin (http://id.loc.gov/vocabulary/relators/aut), Luo, Yufeng (http://id.loc.gov/vocabulary/relators/aut), Jin, Qiong (http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Singapore : Springer Singapore : Imprint: Springer, 2018.
• Edition: 1st ed. 2018.
• Subjects: Machinery.; Artificial intelligence.; Robotics.; Automation.; Machinery and Machine Elements.; Artificial Intelligence.; Robotics and Automation.

This book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms. The main original theoretical contributions of this book include: A. Three basic concepts · The "geometrical constraint type of axes"...

Table of Contents:

• Introduction
• Topological structure of mechanisms and mathematical representation
• Position and orientation characteristic of mechanisms and mathematical representation
• Topological structure equations of mechanisms
• General DOF formula of mechanisms
• Composition principle and topological structure characteristics of mechanisms
• General method for topological structure synthesis of mechanisms
• Topological structure design of 3-DOF parallel mechanisms
• Topological structure design of 4-DOF parallel mechanisms
• Topological structure design of 5-DOF parallel mechanisms
• Topological structure design of 6-DOF parallel mechanisms
• Conclusion.