Structural analysis of parallel robotic manipulators aims at determining the main structural parameters: connectivity, mobility, redundancy, degree of overconstraint. The following examples will illustrate the definitions, the theorems and the properties presented in the previous chapter. We emphasise the difference between mobility M and connectivity S; these are often confused in the literature under the name of degree of freedom (DoF).
As we have seen, mobility and connectivity are the key structural parameters also used to calculate the degree of redundancy and the degree of overconstraint. We begin with simple examples of open and closed-loop kinematic chains associated with the limbs of parallel robots and we finish with structural analysis of various types of parallel robots with simple or complex limbs. We illustrate the fact that the formulae demonstrated in the previous chapter for parallel robots are also applicable to single or multiloop mechanisms that do not obey the classical Chebychev-GrĂ¼bler-Kutzbach (CGK) formulae.
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(2008). Structural analysis. In: Gogu, G. (eds) Structural Synthesis of Parallel Robots. Solid Mechanics and its Applications, vol 149. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-5710-6_3
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DOI: https://doi.org/10.1007/978-1-4020-5710-6_3
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-5102-9
Online ISBN: 978-1-4020-5710-6
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