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Geometric method for type synthesis ...
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Herve, Jacques M.
Geometric method for type synthesis of parallel manipulators
紀錄類型:
書目-電子資源 : Monograph/item
正題名/作者:
Geometric method for type synthesis of parallel manipulatorsby Qinchuan Li, Jacques M. Herve, Wei Ye.
作者:
Li, Qinchuan.
其他作者:
Herve, Jacques M.
出版者:
Singapore :Springer Singapore :2020.
面頁冊數:
xiii, 238 p. :ill. (some col.), digital ;24 cm.
Contained By:
Springer eBooks
標題:
Manipulators (Mechanism)
電子資源:
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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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.
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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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