Structural Synthesis of Parallel Robots
Part 2: Translational Topologies with Two and Three Degrees of Freedom
Authors: Gogu, Grigore
Free Preview- Structural synthesis of parallel robots with two to six degrees of freedom
- Discusses new families of parallel robots with decoupled, uncoupled and fully-isotropic solutions
- Non-redundant/redundant, overconstrained/isostatic solutions of coupled/decoupled/ uncoupled and fully-isotropic parallel manipulators with elementary/complex legs actuated by linear/rotary actuators with/without idle mobilities
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- About this book
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This book represents the second part of a larger work dedicated to the structural synthesis of parallel robots.
The originality of this work resides in the fact that it combines new formulae for mobility connectivity, redundancy and overconstraint, 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 solutions of coupled, decoupled, uncoupled, fully-isotropic and maximally regular translational parallel robotic manipulators 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 to contribute to a rapid and widespread implementation of these solutions in future industrial products.
- Reviews
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From the reviews: “Part 2 begins with a short summary of developed by the author new formulae for mobility, connectivity, redundancy, and over-constraint. … Parallel robotic manipulators can be considered a well-established … subject of many robotic research studies. … the author has made a significant contribution towards establishing innovative and interesting solutions for parallel mechanisms. … The presentation is at a level of a graduate textbook, and the book will be useful and enjoyed by serious graduate students and by scientists and engineers from academia and industry.” (Franz Selig, Zentralblatt MATH, Vol. 1168, 2009)
- Table of contents (7 chapters)
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Introduction
Pages 1-21
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Translational parallel robots with two degrees of freedom
Pages 23-106
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Overconstrained T3-type TPMs with coupled motions
Pages 107-363
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Non overconstrained T3-type TPMs with coupled motions
Pages 365-469
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Overconstrained T3-type TPMs with uncoupled motions
Pages 471-614
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Table of contents (7 chapters)
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Bibliographic Information
- Bibliographic Information
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- Book Title
- Structural Synthesis of Parallel Robots
- Book Subtitle
- Part 2: Translational Topologies with Two and Three Degrees of Freedom
- Authors
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- Grigore Gogu
- Series Title
- Solid Mechanics and Its Applications
- Series Volume
- 159
- Copyright
- 2009
- Publisher
- Springer Netherlands
- Copyright Holder
- Springer Science+Business Media B.V.
- eBook ISBN
- 978-1-4020-9794-2
- DOI
- 10.1007/978-1-4020-9794-2
- Hardcover ISBN
- 978-1-4020-9793-5
- Softcover ISBN
- 978-90-481-8202-2
- Series ISSN
- 0925-0042
- Edition Number
- 1
- Number of Pages
- XVIII, 762
- Topics
