Mechanisms and Machine Science

Theory of Parallel Mechanisms

Authors: Huang, Zhen, Li, Qinchuan, Ding, Huafeng

  • Unified mobility methodology is systematically presented
  • New developments in the kinematic influence coefficient are described
  • A new method of force analysis based on screw theory is presented
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About this book

This book contains mechanism analysis and synthesis.

In mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validity was only proved recently,  is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its latest developments are described. This principle is suitable for kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularity is stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented.

In mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, is introduced in detail. Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed.

Table of contents (10 chapters)

  • Basics of Screw Theory

    Huang, Zhen (et al.)

    Pages 1-16

  • Dependency and Reciprocity of Screws

    Huang, Zhen (et al.)

    Pages 17-45

  • Mobility Analysis Part-1

    Huang, Zhen (et al.)

    Pages 47-69

  • Mobility Analysis Part-2

    Huang, Zhen (et al.)

    Pages 71-133

  • Kinematic Influence Coefficient and Kinematics Analysis

    Huang, Zhen (et al.)

    Pages 135-162

Buy this book

eBook $159.00
price for USA (gross)
  • ISBN 978-94-007-4201-7
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $209.00
price for USA
  • ISBN 978-94-007-4200-0
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $209.00
price for USA
  • ISBN 978-94-017-8480-1
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Theory of Parallel Mechanisms
Authors
Series Title
Mechanisms and Machine Science
Series Volume
6
Copyright
2013
Publisher
Springer Netherlands
Copyright Holder
Springer Science+Business Media Dordrecht
eBook ISBN
978-94-007-4201-7
DOI
10.1007/978-94-007-4201-7
Hardcover ISBN
978-94-007-4200-0
Softcover ISBN
978-94-017-8480-1
Series ISSN
2211-0984
Edition Number
1
Number of Pages
XIV, 422
Topics