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Geometric method for type synthesis ...

Herve, Jacques M.

Geometric method for type synthesis of parallel manipulators

Record Type:	Electronic resources : Monograph/item
Title/Author:	Geometric method for type synthesis of parallel manipulatorsby Qinchuan Li, Jacques M. Herve, Wei Ye.
Author:	Li, Qinchuan.
other author:	Herve, Jacques M.
Published:	Singapore :Springer Singapore :2020.
Description:	xiii, 238 p. :ill. (some col.), digital ;24 cm.
Contained By:	Springer eBooks
Subject:	Manipulators (Mechanism)
Online resource:	https://doi.org/10.1007/978-981-13-8755-5
ISBN:	9789811387555$q(electronic bk.)

Geometric method for type synthesis of parallel manipulators
Li, Qinchuan.

Geometric method for type synthesis of parallel manipulators[electronic resource] /by Qinchuan Li, Jacques M. Herve, Wei Ye. - Singapore :Springer Singapore :2020. - xiii, 238 p. :ill. (some col.), digital ;24 cm. - Springer tracts in mechanical engineering,2195-9862. - Springer tracts in mechanical engineering..

Introduction -- Fundamentals of group theory -- Rotation and displacements of rigid body -- Lie group based method for type synthesis of parallel mechanisms -- Type Synthesis of 5-DOF 3R2T Parallel Mechanisms -- Type Synthesis of 4-DOF 2R2T Parallel Mechanisms -- Type Synthesis of 4-DOF Parallel Mechanisms with Bifurcation of Schoenflies Motion -- Type Synthesis of 3-DOF RPR-equivalent Parallel Mechanisms -- Type Synthesis of 3-DOF PU-equivalent Parallel Mechanisms -- Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators with Fixed Linear Actuators for Minimally Invasive Surgery -- Type synthesis of Non-overconstrainted 3-DOF Translational parallel mechanisms with Less Structural Shakiness -- Type synthesis of Pan-Tilt Wrists with Uncoupled Actuation.

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.

ISBN: 9789811387555$q(electronic bk.)

Standard No.: 10.1007/978-981-13-8755-5doiSubjects--Topical Terms:

238424
Manipulators (Mechanism)

LC Class. No.: TJ211

Dewey Class. No.: 629.8

Geometric method for type synthesis of parallel manipulators
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505 0 $a Introduction -- Fundamentals of group theory -- Rotation and displacements of rigid body -- Lie group based method for type synthesis of parallel mechanisms -- Type Synthesis of 5-DOF 3R2T Parallel Mechanisms -- Type Synthesis of 4-DOF 2R2T Parallel Mechanisms -- Type Synthesis of 4-DOF Parallel Mechanisms with Bifurcation of Schoenflies Motion -- Type Synthesis of 3-DOF RPR-equivalent Parallel Mechanisms -- Type Synthesis of 3-DOF PU-equivalent Parallel Mechanisms -- Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators with Fixed Linear Actuators for Minimally Invasive Surgery -- Type synthesis of Non-overconstrainted 3-DOF Translational parallel mechanisms with Less Structural Shakiness -- Type synthesis of Pan-Tilt Wrists with Uncoupled Actuation.
520 $a 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.
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