Geometric Method for Type Synthesis of Parallel Manipulators

1. Front Matter

   Pages i-xiii

   PDF

2. Introduction

   • Qinchuan Li, Jacques M. Hervé, Wei Ye

   Pages 1-21

3. Fundamental of Group Theory

   • Qinchuan Li, Jacques M. Hervé, Wei Ye

   Pages 23-35

4. Rotation and Displacements of Rigid Body

   • Qinchuan Li, Jacques M. Hervé, Wei Ye

   Pages 37-54

5. Lie Group Based Method for Type Synthesis of Parallel Mechanisms

   • Qinchuan Li, Jacques M. Hervé, Wei Ye

   Pages 55-71

6. Type Synthesis of 5-DOF 3R2T Parallel Mechanism

   • Qinchuan Li, Jacques M. Hervé, Wei Ye

   Pages 73-85

7. Type Synthesis of 4-DOF 2R2T Parallel Mechanisms

   • Qinchuan Li, Jacques M. Hervé, Wei Ye

   Pages 87-99

8. Type Synthesis of 4-DOF Parallel Mechanisms with Bifurcation of Schoenflies Motion

   • Qinchuan Li, Jacques M. Hervé, Wei Ye

   Pages 101-125

9. Type Synthesis of 3-DOF RPR-Equivalent Parallel Mechanisms

   • Qinchuan Li, Jacques M. Hervé, Wei Ye

   Pages 127-150

10. Type Synthesis of 3-DOF PU-Equivalent Parallel Mechanisms

    • Qinchuan Li, Jacques M. Hervé, Wei Ye

    Pages 151-179

11. Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators with Fixed Linear Actuators for Minimally Invasive Surgery

    • Qinchuan Li, Jacques M. Hervé, Wei Ye

    Pages 181-200

12. Type Synthesis of Non-overconstrained 3-DOF Translational Parallel Mechanisms with Less Structural Shakiness

    • Qinchuan Li, Jacques M. Hervé, Wei Ye

    Pages 201-221

13. Type Synthesis of Pan-Tilt Wrists with Uncoupled Actuation

    • Qinchuan Li, Jacques M. Hervé, Wei Ye

    Pages 223-238

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.

• Group Theory
• Type Synthesis
• Lower Mobility
• Parallel Manipulator
• 5-DOF 3R2T Parallel Mechanisms
• 4-DOF 2R2T Parallel Mechanisms
• Bifurcation of Schoenflies Motion
• 3-DOF RPR-Equivalent Parallel Mechanisms
• Remote Center-of-Motion Parallel Manipulators
• Fixed Linear Actuators
• Minimally Invasive Surgery
• Less Structural Shakiness
• Type Synthesis of Pan-Tilt Wrists
• Uncoupled Actuation

“The intended audience for this book consists of mechanical and control researchers and engineers as well as graduate and Ph.D. students in manipulators and robotics.” (Clementina Mladenova, zbMATH 1425.70001, 2019)

• Faculty of Mechanical Eng.& Automation, Zhejiang Sci-Tech University, Hangzhou, China

  Qinchuan Li

• Ecole Centrale Paris, Chatenay-Malabry, France

  Jacques M. Hervé

• Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou, China

  Wei Ye

Qinchuan Li received his B.Eng., M.Eng., and Ph.D. degrees in Mechanical Engineering from Yanshan University, Hebei, China, in 1997, 2000, and 2003, respectively.
He is currently a Professor at Zhejiang Sci-Tech University, Hangzhou, China. His research interests include type synthesis, kinematics, and application of parallel mechanisms. He has authored more than 50 publications in journals and conference proceedings.
 
JM Hervé was born in France in 1944. He received his Dipl.Ing. degree from Ecole Centrale Paris, France, in 1968 and his Ph.D. degree from the University of Paris 6 in 1976.
He began his academic career in 1968, and in 1983, he became a Professor and was responsible for a mechanical design research team at Ecole Centrale Paris. He has been an Invited Researcher in the U.S., Canada, and Japan and is also a consultant for several companies. His professional interests include teaching and research in the field of mechanism and machine science.
 
Wei Ye received his B.Eng. and Ph.D. degrees in Mechanical Engineering from Beijing Jiaotong University, China, in 2010, and 2016, respectively.
He is currently a lecturer with Zhejiang Sci-Tech University, Hangzhou, China. His research interests include design and analysis of reconfigurable parallel mechanisms. He has authored more than 15 publications in journals and conference proceedings.

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