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Structural Synthesis of Parallel Robots: Part 1: Methodology de Grigore Gogu

Structural Synthesis of Parallel Robots: Part 1: Methodology: Solid Mechanics and Its Applications, cartea 149

Autor Grigore Gogu
en Limba Engleză Paperback – 28 oct 2010
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 systematically generated by the structural synthesis approach. Part 2 (Gogu 2009a) presented structural solutions of translational parallel robotic manipulators with two and three degrees of mobility. Part 3 (Gogu 2010a) focussed on structural solutions of parallel robotic manipulators with planar motion of the moving platform. This book offers other topologies of parallel robotic manipulators with two and three degrees of freedom systematically generated by using the structural synthesis approach proposed in Part 1.
The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel robotic manipulators.
This is the first book of robotics presenting various solutions of coupled, decoupled, uncoupled, fully-isotropic and maximally regular parallel robotic manipulators with two and three degrees of freedom systematically generated by using the structural synthesis approach proposed in Part 1. Non-redundant/redundant, overconstrained/isostatic solutions with simple/complex limbs actuated by linear/rotary actuators with/without idle mobilities are proposed. 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 tocontribute to a rapid and widespread implementation of these solutions in future industrial products.
 
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Specificații

ISBN-13: 9789048172849
ISBN-10: 9048172845
Pagini: 724
Ilustrații: XVIII, 706 p.
Dimensiuni: 155 x 235 x 38 mm
Greutate: 1 kg
Ediția:Softcover reprint of hardcover 1st ed. 2008
Editura: SPRINGER NETHERLANDS
Colecția Springer
Seria Solid Mechanics and Its Applications

Locul publicării:Dordrecht, Netherlands

Public țintă

Research

Cuprins

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.

Recenzii

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)

Textul de pe ultima copertă

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.

Caracteristici

Structural synthesis of a new family of parallel robots — the fully-isotropic parallel robots