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Geometric Method for Type Synthesis of Parallel Manipulators

  • Qinchuan Li
  • Jacques M.  Hervé
  • Wei Ye
Book

Part of the Springer Tracts in Mechanical Engineering book series (STME)

Table of contents

  1. Front Matter
    Pages i-xiii
  2. Qinchuan Li, Jacques M. Hervé, Wei Ye
    Pages 1-21
  3. Qinchuan Li, Jacques M. Hervé, Wei Ye
    Pages 23-35
  4. Qinchuan Li, Jacques M. Hervé, Wei Ye
    Pages 37-54
  5. Qinchuan Li, Jacques M. Hervé, Wei Ye
    Pages 55-71
  6. Qinchuan Li, Jacques M. Hervé, Wei Ye
    Pages 73-85
  7. Qinchuan Li, Jacques M. Hervé, Wei Ye
    Pages 87-99
  8. Qinchuan Li, Jacques M. Hervé, Wei Ye
    Pages 101-125
  9. Qinchuan Li, Jacques M. Hervé, Wei Ye
    Pages 127-150
  10. Qinchuan Li, Jacques M. Hervé, Wei Ye
    Pages 151-179
  11. Qinchuan Li, Jacques M. Hervé, Wei Ye
    Pages 223-238

About this book

Introduction

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.

Keywords

Group Theory Type Synthesis Lower Mobility Parallel Manipulator 5-DOF 3R2T Parallel Mechanisms 4-DOF 2R2T Parallel Mechanisms Bifurcation of Schoenflies Motion 3-DOF RPR-Equivalent Parallel Mechanisms Remote Center-of-Motion Parallel Manipulators Fixed Linear Actuators Minimally Invasive Surgery Less Structural Shakiness Type Synthesis of Pan-Tilt Wrists Uncoupled Actuation

Authors and affiliations

  • Qinchuan Li
    • 1
  • Jacques M.  Hervé
    • 2
  • Wei Ye
    • 3
  1. 1.Faculty of Mechanical Eng.& AutomationZhejiang Sci-Tech UniversityHangzhouChina
  2. 2.Ecole Centrale ParisChatenay-MalabryFrance
  3. 3.Faculty of Mechanical Engineering and AutomationZhejiang Sci-Tech UniversityHangzhouChina

Bibliographic information

  • DOI https://doi.org/10.1007/978-981-13-8755-5
  • Copyright Information Huazhong University of Science and Technology Press 2020
  • Publisher Name Springer, Singapore
  • eBook Packages Intelligent Technologies and Robotics
  • Print ISBN 978-981-13-8754-8
  • Online ISBN 978-981-13-8755-5
  • Series Print ISSN 2195-9862
  • Series Online ISSN 2195-9870
  • Buy this book on publisher's site