| Description |
1 online resource (4 volumes) : illustrations |
| Series |
Solid mechanics and its applications ; v. 149, 159, 173, 183 |
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Solid mechanics and its applications ; v. 149, 159, 173, 183.
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| Contents |
1.1 Robot 1 -- 1.2 Robotics 7 -- 1.3 Parallel Robot 10 -- 1.5 Structural synthesis 23 -- 1.6 The objectives and originality of this book 25 -- 2 Structural parameters 31 -- 2.1 Critical review of mobility calculation 32 -- 2.1.1 Chebychev's contribution 35 -- 2.1.2 Sylvester's contribution 36 -- 2.1.3 Grubler's contribution 36 -- 2.1.4 Somov's contribution 37 -- 2.1.5 Hochman's contribution 37 -- 2.1.6 Somov-Malytsheff's formula 38 -- 2.1.7 Koenigs' formula 39 -- 2.1.8 Kutzbach's mobility equation 39 -- 2.1.9 Dobrovolski's mobility equation 40 -- 2.1.10 Contribution of Y.F. Moroskine 40 -- 2.1.11 Contribution of R. Voinea and M. Atanasiu 41 -- 2.1.12 Kolchin's mobility equation 42 -- 2.1.13 Rossner's contribution 42 -- 2.1.14 Boden's mobility equation 42 -- 2.1.15 Manafu's formula 43 -- 2.1.16 Ozol's formula 43 -- 2.1.17 Contribution of K.J. Waldron 44 -- 2.1.18 Contribution of N. Manolescu 44 -- 2.1.19 Contribution of C. Bagci 45 -- 2.1.20 Contribution of P. Antonescu 46 -- 2.1.21 Contribution of F. Freudenstein and R. Alizade 47 -- 2.1.22 Hunt's contribution 48 -- 2.1.23 Herve's contribution 49 -- 2.1.24 Gronowicz's contribution 50 -- 2.1.25 Baker's contribution 50 -- 2.1.26 Davies's contribution 51 -- 2.1.27 Contribution of V.P. Agrawal and J.S. Rao 52 -- 2.1.28 Contribution of J. Angeles and C. Gosselin 52 -- 2.1.29 Contribution of F. Dudita and D. Diaconescu 53 -- 2.1.30 Contribution of P. Fanghella and C. Galletti 55 -- 2.1.31 Fayet's contribution 55 -- 2.1.32 Tsai's formula 56 -- 2.1.33 McCarthy's formula 56 -- 2.1.34 Contribution of Z. Huang, L.F. Kong and Y.F. Fang 57 -- 2.1.35 Contribution of J.M. Rico, J. Gallardo and B. Ravani 57 -- 2.2 Chebychev-Grubler-Kutzbach mobility formulae 58 -- 2.2.1 The original Chebychev-Grubler-Kutzbach formula 58 -- 2.2.2 The extended Chebychev-Grubler-Kutzbach formula 61 -- 2.2.3 Limits of applicability of CGK formulae 62 -- 2.3 Mobility and connectivity of parallel robots 78 -- 2.3.1 General definitions and formulae for mobility and connectivity of mechanisms 79 -- 2.3.2 Mobility and connectivity of simple open kinematic chains 82 -- 2.3.3 Mobility and connectivity of single-loop kinematic chains 88 -- 2.3.4 Connectivity between two elements of a single-loop kinematic chain 96 -- 2.3.5 Mobility and connectivity of parallel robots with simple limbs 100 -- 2.3.6 Mobility and connectivity of parallel robots with complex limbs 109 -- 2.3.7 General formulae for robot mobility and connectivity 114 -- 2.4 Overconstraints in parallel robots 120 -- 2.5 Redundancy in parallel robots 125 -- 2.6 General formulae for structural parameters 127 -- 3 Structural analysis 13 -- 3.1 Simple open kinematic chains 131 -- 3.2 Single-loop kinematic chains 137 -- 3.3 Parallel mechanisms with simple limbs 148 -- 3.4 Parallel mechanisms with complex limbs 168 -- 3.5 Other multi-loop kinematic chains 228 -- 4 Kinematic analysis 235 -- 4.1 Decoupling in axiomatic design 236 -- 4.2 Geometric modeling 238 -- 4.3 Kinematic modeling 241 -- 4.3.1 Direct and inverse kinematics matrices used in Jacobian calculation 242 -- 4.3.2 Design and conventional Jacobian matrices 243 -- 4.4 Types of workspaces and singularities 248 -- 4.4.1 Types of workspaces 248 -- 4.4.2 Types of singularities 249 -- 4.5 Kinetostatic performance indices 253 -- 4.5.1 Cross-coupling indices 256 -- 4.5.2 Indices of input-output propensity 262 -- 4.5.3 Kinetostatic indices defined in connection with manipulability ellipsoids and polytops 266 -- 4.6 Design Jacobian and motion decoupling 274 -- 4.6.1 Parallel robots with coupled motions 276 -- 4.6.2 Parallel robots with decoupled motions 285 -- 4.6.3 Parallel robots with uncoupled motions 293 -- 4.6.4 Maximally regular parallel robots 296 -- 5 Structural synthesis 299 -- 5.1 Structural synthesis: a systematic approach in mechanism design 299 -- 5.2 Morphological and evolutionary approaches 304 -- 5.2.1 Morphological approaches 305 -- 5.2.2 Evolutionary algorithms 307 -- 5.3 Evolutionary morphology 310 -- 5.3.1 Design objectives 310 -- 5.3.2 Constituent elements 311 -- 5.3.3 Morphological operators 313 -- 5.3.4 Set of solutions 314 -- 5.3.5 General structure of the evolutionary morphology 314 -- 5.4 General approach to structural synthesis of parallel robots 317 -- 5.4.1 General conditions for structural synthesis of parallel robots via theory of linear transformations 317 -- 5.4.2 General approach to structural synthesis of parallel robots via evolutionary morphology 319 -- 6 Limbs with two degrees of connectivity 329 -- 6.1 Limbs with two translational motions 329 -- 6.2 Limbs with two rotational motions 333 -- 6.3 Limbs with one translational and one rotational motion 334 -- 6.4 Other limbs with two degrees of connectivity 335 -- 6.5 Redundant limbs with two degrees of connectivity 338 -- 7 Limbs with three degrees of connectivity 341 -- 7.1 Limbs with three translational motions 341 -- 7.2 Planar limbs with one rotational and two translational motions 352 -- 7.3 Non planar limbs with one rotational and two translational motions 359 -- 7.4 Limbs with one translational and two rotational motions 364 -- 7.5 Limbs with three rotational motions 364 -- 7.6 Other limbs with three degrees of connectivity 365 -- 7.7 Redundant limbs with three degrees of connectivity 375 -- 8 Limbs with four degrees of connectivity 377 -- 8.1 Limbs with Schonflies motion 377 -- 8.2 Limbs with two translational and two rotational motions 425 -- 8.3 Limbs with one translational and three rotational motions 435 -- 8.4 Other limbs with four degrees of connectivity 436 -- 8.5 Redundant limbs with four degrees of connectivity 442 -- 9 Limbs with five degrees of connectivity 445 -- 9.1 Limbs with two rotational and three translational motions 445 -- 9.2 Limbs with two translational and three rotational motions 637 -- 9.3 Other limbs with five degrees of connectivity 644 -- 9.4 Redundant limbs with five degrees of connectivity 650 -- 10 Limbs with six degrees of connectivity 653 -- 10.1 Limbs with three translational and three rotational motions 653 -- 10.2 Redundant limbs with six degrees of connectivity 661 |
| Summary |
This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. . The originality of this work resides in combining the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a systematic approach of structural synthesis. This work is organized in two parts published in two distinct books. Part 1 presents the methodology proposed for structural synthesis and Part 2 the various topologies of parallel robots generated by this systematic approach. 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 |
| Bibliography |
Includes bibliographical references and index |
| Notes |
Print version record |
| Subject |
Robotics.
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Parallel robots.
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TECHNOLOGY & ENGINEERING -- Engineering (General)
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Ingénierie.
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Parallel robots
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Robotics
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| Form |
Electronic book
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| ISBN |
9781402057106 |
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1402057105 |
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9781402097942 |
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1402097948 |
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9789048198313 |
|
9048198313 |
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9789400726758 |
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9400726759 |
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9789400774018 |
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940077401X |
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