Geometric Method For Type Synthesis Of Parallel Manipulators

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Geometric Method for Type Synthesis of Parallel Manipulators

Qinchuan Li,Jacques M. Hervé,Wei Ye
Geometric Method for Type Synthesis of Parallel Manipulators Book PDF

Author : Qinchuan Li,Jacques M. Hervé,Wei Ye
Publisher : Springer
Page : 238 pages
File Size : 51,9 Mb
Release : 2019-07-03
Category : Technology & Engineering
ISBN : 9789811387555

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Geometric Method for Type Synthesis of Parallel Manipulators by Qinchuan Li,Jacques M. Hervé,Wei Ye Pdf

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.

Type Synthesis of Parallel Mechanisms

Xianwen Kong,Clément M. Gosselin
Type Synthesis of Parallel Mechanisms Book PDF

Author : Xianwen Kong,Clément M. Gosselin
Publisher : Springer
Page : 276 pages
File Size : 45,8 Mb
Release : 2007-10-28
Category : Technology & Engineering
ISBN : 9783540719908

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Type Synthesis of Parallel Mechanisms by Xianwen Kong,Clément M. Gosselin Pdf

This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), a key issue in the creative design of a wide variety of innovative devices such as parallel manipulators, motion simulators, and haptic devices. Essential reading for researchers, developers, engineers and graduate students with interests in robotics, this book covers the classification of PMs as well as providing a large number of PMs ready to be used in practical applications.

Finite and Instantaneous Screw Theory in Robotic Mechanism

Tao Sun,Shuofei Yang,Binbin Lian
Finite and Instantaneous Screw Theory in Robotic Mechanism Book PDF

Author : Tao Sun,Shuofei Yang,Binbin Lian
Publisher : Springer Nature
Page : 404 pages
File Size : 55,9 Mb
Release : 2020-02-13
Category : Technology & Engineering
ISBN : 9789811519444

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Finite and Instantaneous Screw Theory in Robotic Mechanism by Tao Sun,Shuofei Yang,Binbin Lian Pdf

This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications./div

Topology Design of Robot Mechanisms

Ting-Li Yang,Anxin Liu,Huiping Shen,LuBin Hang,Yufeng Luo,Qiong Jin
Topology Design of Robot Mechanisms Book PDF

Author : Ting-Li Yang,Anxin Liu,Huiping Shen,LuBin Hang,Yufeng Luo,Qiong Jin
Publisher : Springer
Page : 236 pages
File Size : 43,8 Mb
Release : 2018-01-02
Category : Technology & Engineering
ISBN : 9789811055324

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Topology Design of Robot Mechanisms by Ting-Li Yang,Anxin Liu,Huiping Shen,LuBin Hang,Yufeng Luo,Qiong Jin Pdf

This book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms. The main original theoretical contributions of this book include: A. Three basic concepts · The “geometrical constraint type of axes” is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) and the fixed coordinate system (Chapter 2). · The position and orientation characteristic (POC) set is used to describe the POC of the relative motion between any two links. The POC set, derived from the unit vector set of the velocity of a link, is only depend on the topological structure of a mechanism. Therefore, it is also independent of the motion positions and the fixed coordinate system (Chapter 3). · The single open chain (SOC) unit is the base unit of the topological structure used to develop the four basic equations of the mechanism topology (Chapters 2, 4–6). B. The mechanism composition principle based on the SOC units This book proposes a mechanism composition principle, based on the SOC units, to establish a systematic theory for the unified modeling of the topology, kinematics, and dynamics of mechanisms based on the SOC units (Chapter 7). C. Four basic equations • The POC equation of serial mechanisms with 10 symbolic operation rules (Chapter 4). • The POC equation of parallel mechanisms with 14 symbolic operation rules (Chapter 5). • The general DOF formula for spatial mechanisms (Chapter 6). • The coupling degree formula for the Assur kinematic chain (Chapter 7). D. One systematic method for the topology design of robot mechanisms (Chapters 8–10) Based on the three basic concepts and the four basic equations addressed above, this book puts forward a systematic method for the topology design of parallel mechanisms, which is fundamentally different from all existing methods. Its main characteristics are as follows: • The design process includes two stages: the first is structure synthesis, which derives many structure types; the second involves the performance analysis, classification and optimization of structure types derived from the first stage. • The design operation is independent of the motion positions and the fixed coordinate system. Therefore, the proposed method is essentially a geometrical method, which ensures the full-cycle DOF and the generality of geometric conditions of mechanism existence. • Each individual design step follows an explicit formula or the guidelines for design criteria, making the operation simple, feasible and reproducible. In addition, the topology design of the SCARA PMs is studied in detail to demonstrate the proposed method (Chapter 10).

Advances in Robot Kinematics

Jadran Lenarčič,Federico Thomas
Advances in Robot Kinematics Book PDF

Author : Jadran Lenarčič,Federico Thomas
Publisher : Springer Science & Business Media
Page : 558 pages
File Size : 46,9 Mb
Release : 2002-06-30
Category : Computers
ISBN : 1402006969

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Advances in Robot Kinematics by Jadran Lenarčič,Federico Thomas Pdf

This book presents the most recent research advances in the theory, design, control, and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion, and biomechanics.

Parallel Kinematics

Xin-Jun Liu,Jinsong Wang
Parallel Kinematics Book PDF

Author : Xin-Jun Liu,Jinsong Wang
Publisher : Springer Science & Business Media
Page : 309 pages
File Size : 46,8 Mb
Release : 2013-08-15
Category : Technology & Engineering
ISBN : 9783642369292

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Parallel Kinematics by Xin-Jun Liu,Jinsong Wang Pdf

Parallel Kinematics- Type, Kinematics, and Optimal Design presents the results of 15 year's research on parallel mechanisms and parallel kinematics machines. This book covers the systematic classification of parallel mechanisms (PMs) as well as providing a large number of mechanical architectures of PMs available for use in practical applications. It focuses on the kinematic design of parallel robots. One successful application of parallel mechanisms in the field of machine tools, which is also called parallel kinematics machines, has been the emerging trend in advanced machine tools. The book describes not only the main aspects and important topics in parallel kinematics, but also references novel concepts and approaches, i.e. type synthesis based on evolution, performance evaluation and optimization based on screw theory, singularity model taking into account motion and force transmissibility, and others. This book is intended for researchers, scientists, engineers and postgraduates or above with interests in robotics and advanced machine tools technology such as parallel kinematics machines (PKMs). Xinjun Liu and Jinsong Wang, professors, work at The Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University.

New Trends in Mechanism Science

Doina Pisla,Marco Ceccarelli,Manfred Husty,Burkhard J. Corves
New Trends in Mechanism Science Book PDF

Author : Doina Pisla,Marco Ceccarelli,Manfred Husty,Burkhard J. Corves
Publisher : Springer Science & Business Media
Page : 710 pages
File Size : 50,5 Mb
Release : 2010-08-12
Category : Technology & Engineering
ISBN : 9789048196890

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New Trends in Mechanism Science by Doina Pisla,Marco Ceccarelli,Manfred Husty,Burkhard J. Corves Pdf

After two succesful conferences held in Innsbruck (Prof. Manfred Husty) in 2006 and Cassino in 2008 (Prof Marco Ceccarelli) with the participation of the most important well-known scientists from the European Mechanism Science Community, a further conference was held in Cluj Napoca, Romania, in 2010 (Prof. Doina Pisla) to discuss new developments in the field. This book presents the most recent research advances in Mechanism Science with different applications. Amongst the topics treated are papers on Theoretical kinematics, Computational kinematics, Mechanism design, Mechanical transmissions, Linkages and manipulators, Mechanisms for biomechanics, Micro-mechanisms, Experimental mechanics, Mechanics of robots, Dynamics of multi-body systems, Dynamics of machinery, Control issues of mechanical systems, Novel designs, History of mechanism science etc.

Parallel Robots

J.P. Merlet
Parallel Robots Book PDF

Author : J.P. Merlet
Publisher : Springer Science & Business Media
Page : 402 pages
File Size : 41,8 Mb
Release : 2006-07-01
Category : Technology & Engineering
ISBN : 9781402041334

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Parallel Robots by J.P. Merlet Pdf

Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 150 exercises and numerous internet addresses), researchers (with over 650 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results, mistakes to avoid, and applications are presented). Since the publication of the first edition (2000) there has been an impressive increase in terms of study and use of this kind of structure that are reported in this book. This second edition has been completely overhauled. The initial chapter on kinematics has been split into Inverse Kinematics and Direct Kinematics. A new chapter on calibration was added. The other chapters have also been rewritten to a large extent. The reference section has been updated to include around 45% new works that appeared after the first edition.

Structural Synthesis of Parallel Robots

Grigore Gogu
Structural Synthesis of Parallel Robots Book PDF

Author : Grigore Gogu
Publisher : Springer Science & Business Media
Page : 686 pages
File Size : 48,5 Mb
Release : 2010-09-08
Category : Technology & Engineering
ISBN : 9789048198313

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Structural Synthesis of Parallel Robots by Grigore Gogu Pdf

“In other words, the invention of a mechanism will be to the scientific kinematist a synthetic problem, - which he can solve by the use of systematic, if also difficult, methods.” 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 third part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 (Gogu 2008a) presented the methodology of structural synthesis and the systematisation of structural solutions of simple and complex limbs with two to six degrees of connectivity systematically generated by the structural synthesis approach. Part 2 (Gogu 2009a) presented structural solutions of translational parallel robotic manipulators with two and three degrees of mobility. This book focuses on various topologies of parallel robotic manipulators with planar motion of the moving platform 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.

Mechanism and Machine Science

Dibakar Sen,Santhakumar Mohan,Gondi Kondaiah Ananthasuresh
Mechanism and Machine Science Book PDF

Author : Dibakar Sen,Santhakumar Mohan,Gondi Kondaiah Ananthasuresh
Publisher : Springer Nature
Page : 873 pages
File Size : 43,5 Mb
Release : 2020-07-01
Category : Technology & Engineering
ISBN : 9789811544774

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Mechanism and Machine Science by Dibakar Sen,Santhakumar Mohan,Gondi Kondaiah Ananthasuresh Pdf

This volume presents select papers from the Asian Conference on Mechanism and Machine Science 2018. This conference includes contributions from both academic and industry researchers and will be of interest to scientists and students working in the field of mechanism and machine science.

Theory of Parallel Mechanisms

Zhen Huang,Qinchuan Li,Huafeng Ding
Theory of Parallel Mechanisms Book PDF

Author : Zhen Huang,Qinchuan Li,Huafeng Ding
Publisher : Springer Science & Business Media
Page : 430 pages
File Size : 54,8 Mb
Release : 2012-07-26
Category : Technology & Engineering
ISBN : 9789400742017

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Theory of Parallel Mechanisms by Zhen Huang,Qinchuan Li,Huafeng Ding Pdf

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.

Intelligent Robotics and Applications

Huayong Yang,Honghai Liu,Jun Zou,Zhouping Yin,Lianqing Liu,Geng Yang,Xiaoping Ouyang,Zhiyong Wang
Intelligent Robotics and Applications Book PDF

Author : Huayong Yang,Honghai Liu,Jun Zou,Zhouping Yin,Lianqing Liu,Geng Yang,Xiaoping Ouyang,Zhiyong Wang
Publisher : Springer Nature
Page : 613 pages
File Size : 42,9 Mb
Release : 2023-11-13
Category : Computers
ISBN : 9789819965014

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Intelligent Robotics and Applications by Huayong Yang,Honghai Liu,Jun Zou,Zhouping Yin,Lianqing Liu,Geng Yang,Xiaoping Ouyang,Zhiyong Wang Pdf

The 9-volume set LNAI 14267-14275 constitutes the proceedings of the 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, which took place in Hangzhou, China, during July 5–7, 2023. The 413 papers included in these proceedings were carefully reviewed and selected from 630 submissions. They were organized in topical sections as follows: Part I: Human-Centric Technologies for Seamless Human-Robot Collaboration; Multimodal Collaborative Perception and Fusion; Intelligent Robot Perception in Unknown Environments; Vision-Based Human Robot Interaction and Application. Part II: Vision-Based Human Robot Interaction and Application; Reliable AI on Machine Human Reactions; Wearable Sensors and Robots; Wearable Robots for Assistance, Augmentation and Rehabilitation of Human Movements; Perception and Manipulation of Dexterous Hand for Humanoid Robot. Part III: Perception and Manipulation of Dexterous Hand for Humanoid Robot; Medical Imaging for Biomedical Robotics; Advanced Underwater Robot Technologies; Innovative Design and Performance Evaluation of Robot Mechanisms; Evaluation of Wearable Robots for Assistance and Rehabilitation; 3D Printing Soft Robots. Part IV: 3D Printing Soft Robots; Dielectric Elastomer Actuators for Soft Robotics; Human-like Locomotion and Manipulation; Pattern Recognition and Machine Learning for Smart Robots. Part V: Pattern Recognition and Machine Learning for Smart Robots; Robotic Tactile Sensation, Perception, and Applications; Advanced Sensing and Control Technology for Human-Robot Interaction; Knowledge-Based Robot Decision-Making and Manipulation; Design and Control of Legged Robots. Part VI: Design and Control of Legged Robots; Robots in Tunnelling and Underground Space; Robotic Machining of Complex Components; Clinically Oriented Design in Robotic Surgery and Rehabilitation; Visual and Visual-Tactile Perception for Robotics. Part VII: Visual and Visual-Tactile Perception for Robotics; Perception, Interaction, and Control of Wearable Robots; Marine Robotics and Applications; Multi-Robot Systems for Real World Applications; Physical and Neurological Human-Robot Interaction. Part VIII: Physical and Neurological Human-Robot Interaction; Advanced Motion Control Technologies for Mobile Robots; Intelligent Inspection Robotics; Robotics in Sustainable Manufacturing for Carbon Neutrality; Innovative Design and Performance Evaluation of Robot Mechanisms. Part IX: Innovative Design and Performance Evaluation of Robot Mechanisms; Cutting-Edge Research in Robotics.

Advances in Reconfigurable Mechanisms and Robots II

Xilun Ding,Xianwen Kong,Jian S. Dai
Advances in Reconfigurable Mechanisms and Robots II Book PDF

Author : Xilun Ding,Xianwen Kong,Jian S. Dai
Publisher : Springer
Page : 1117 pages
File Size : 51,9 Mb
Release : 2015-11-23
Category : Technology & Engineering
ISBN : 9783319233277

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Advances in Reconfigurable Mechanisms and Robots II by Xilun Ding,Xianwen Kong,Jian S. Dai Pdf

This book presents the most recent advances in the research and applications of reconfigurable mechanisms and robots. It collects 93 independently reviewed papers presented at the Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015) held in Beijing, China, 20-22 July 2015. The conference papers are organized into seven parts to cover the reconfiguration theory, topology, kinematics and design of reconfigurable mechanisms including reconfigurable parallel mechanisms. The most recent results on reconfigurable robots are presented including their analysis, design, simulation and control. Bio-inspired mechanisms are also explored in the challenging fields of rehabilitation and minimally invasive surgery. This book further addresses deployable mechanisms and origami-inspired mechanisms and showcases a wide range of successful applications of reconfigurable mechanisms and robots. Advances in Reconfigurable Mechanisms and Robots II should be of interest for researchers, engineers and postgraduate students in mechanical engineering, electrical engineering, computer science and mathematics.

Latest Advances in Robot Kinematics

Jadran Lenarcic,Manfred Husty
Latest Advances in Robot Kinematics Book PDF

Author : Jadran Lenarcic,Manfred Husty
Publisher : Springer Science & Business Media
Page : 468 pages
File Size : 47,8 Mb
Release : 2012-05-19
Category : Technology & Engineering
ISBN : 9789400746206

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Latest Advances in Robot Kinematics by Jadran Lenarcic,Manfred Husty Pdf

This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.

Mechanism and Machine Science

Xianmin Zhang,Nianfeng Wang,Yanjiang Huang
Mechanism and Machine Science Book PDF

Author : Xianmin Zhang,Nianfeng Wang,Yanjiang Huang
Publisher : Springer
Page : 1565 pages
File Size : 47,8 Mb
Release : 2016-11-15
Category : Technology & Engineering
ISBN : 9789811028755

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Mechanism and Machine Science by Xianmin Zhang,Nianfeng Wang,Yanjiang Huang Pdf

These proceedings collect the latest research results in mechanism and machine science, intended to reinforce and improve the role of mechanical systems in a variety of applications in daily life and industry. Gathering more than 120 academic papers, it addresses topics including: Computational kinematics, Machine elements, Actuators, Gearing and transmissions, Linkages and cams, Mechanism design, Dynamics of machinery, Tribology, Vehicle mechanisms, dynamics and design, Reliability, Experimental methods in mechanisms, Robotics and mechatronics, Biomechanics, Micro/nano mechanisms and machines, Medical/welfare devices, Nature and machines, Design methodology, Reconfigurable mechanisms and reconfigurable manipulators, and Origami mechanisms. This is the fourth installment in the IFToMM Asian conference series on Mechanism and Machine Science (ASIAN MMS 2016). The ASIAN MMS conference initiative was launched to provide a forum mainly for the Asian community working in Mechanism and Machine Science, in order to facilitate collaboration and improve the visibility of activities in the field. The series started in 2010 and the previous ASIAN MMS events were successfully held in Taipei, China (2010), Tokyo, Japan (2012), and Tianjin, China (2014). ASIAN MMS 2016 was held in Guangzhou, China, from 15 to 17 December 2016, and was organized by the South China University under the patronage of the IFToMM and the Chinese Mechanical Engineering Society (CMES). The aim of the Conference was to bring together researchers, industry professionals and students from the broad range of disciplines connected to Mechanism Science in a collegial and stimulating environment. The ASIAN MMS 2016 Conference provided a platform allowing scientists to exchange notes on their scientific achievements and establish new national and international collaborations concerning the mechanism science field and its applications, mainly but not exclusively in Asian contexts.