Structural Synthesis of Parallel Robots

1. Front Matter

   Pages i-xviii

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2. Introduction

   Pages 1-21

3. Translational parallel robots with two degrees of freedom

   Pages 23-106

4. Overconstrained T3-type TPMs with coupled motions

   Pages 107-363

5. Non overconstrained T3-type TPMs with coupled motions

   Pages 365-469

6. Overconstrained T3-type TPMs with uncoupled motions

   Pages 471-614

7. Non overconstrained T3-type TPMs with uncoupled motions

   Pages 615-685

8. Maximally regular T3-type translational parallel robots

   Pages 687-748

9. Back Matter

   Pages 749-761

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“The mathematical investigations referred to bring the whole apparatus of a great science to the examination of the properties of a given mechanism, and have accumulated in this direction rich material, of enduring and increasing value. What is left unexamined is however the other, immensely deeper part of the problem, the question: How did the mechanism, or the elements of which it is composed, originate? What laws govern its building up? Is it indeed formed according to any laws whatever? Or have we simply to accept as data what invention gives us, the analysis of what is thus obtained being the only scientific problem left – as in the case of natural history?” Reuleaux, F., Theoretische Kinematik, Braunschweig: Vieweg, 1875 Reuleaux, F., The Kinematics of Machinery, London: Macmillan, 1876 and New York: Dover, 1963 (translated by A.B.W. Kennedy) This book represents the second part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 already published in 2008 (Gogu 2008a) has presented the methodology proposed for structural synthesis. This book focuses on various topologies of translational parallel robots systematically generated by using the structural synthesis approach proposed in Part 1. The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms.

• Degrees of freedom
• evolutionary morphology
• fully-isotropic
• parallel robots
• robot
• robotics
• structural synthesis
• uncoupled motions

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)

• Mechanical Engineering Research Group, French Institute of Advanced Mechanics and Blaise Pascal University, Clermont-Ferrand, France

  Grigore Gogu

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