Theory Of Parallel Mechanisms

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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 : 52,5 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.

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 : 48,7 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.

Analysis and Synthesis of Compliant Parallel Mechanisms—Screw Theory Approach

Chen Qiu,Jian S. Dai
Analysis and Synthesis of Compliant Parallel Mechanisms Screw Theory Approach Book PDF

Author : Chen Qiu,Jian S. Dai
Publisher : Springer Nature
Page : 178 pages
File Size : 42,6 Mb
Release : 2020-06-23
Category : Technology & Engineering
ISBN : 9783030483135

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Analysis and Synthesis of Compliant Parallel Mechanisms—Screw Theory Approach by Chen Qiu,Jian S. Dai Pdf

This book addresses the design of compliant mechanisms, presenting readers with a good understanding of both the solid mechanics of flexible elements and their configuration design, based on a mechanism-equivalent approach in the framework of screw theory. The book begins with the theoretical background of screw theory, and systematically addresses both the compliance characteristics of flexible elements and their configuration design. The book then covers a broad range of compliant parallel mechanism design topics, from stiffness to constraint decomposition, from conceptual design to dimensional design, and from analysis to synthesis, as well as the large deformation problem; this is followed by both simulations and physical experiments, offering readers a solid foundation and useful tools. Given its scope and the results it presents, the book will certainly benefit and inform future research on the topic. It offers a valuable asset for researchers, developers, engineers and graduate students with an interest in compliant mechanisms, robotics and screw theory.

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 : 49,5 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.

Advances in Robot Kinematics 2018

Jadran Lenarcic,Vincenzo Parenti-Castelli
Advances in Robot Kinematics 2018 Book PDF

Author : Jadran Lenarcic,Vincenzo Parenti-Castelli
Publisher : Springer
Page : 477 pages
File Size : 49,7 Mb
Release : 2018-06-22
Category : Technology & Engineering
ISBN : 9783319931883

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Advances in Robot Kinematics 2018 by Jadran Lenarcic,Vincenzo Parenti-Castelli Pdf

This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy. ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.

Analysis and Synthesis of Compliant Parallel Mechanisms--screw Theory Approach

Chen Qiu
Analysis and Synthesis of Compliant Parallel Mechanisms screw Theory Approach Book PDF

Author : Chen Qiu
Publisher : Unknown
Page : 128 pages
File Size : 48,7 Mb
Release : 2021
Category : Electronic books
ISBN : 3030483142

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Analysis and Synthesis of Compliant Parallel Mechanisms--screw Theory Approach by Chen Qiu Pdf

This book addresses the design of compliant mechanisms, presenting readers with a good understanding of both the solid mechanics of flexible elements and their configuration design, based on a mechanism-equivalent approach in the framework of screw theory. The book begins with the theoretical background of screw theory, and systematically addresses both the compliance characteristics of flexible elements and their configuration design. The book then covers a broad range of compliant parallel mechanism design topics, from stiffness to constraint decomposition, from conceptual design to dimensional design, and from analysis to synthesis, as well as the large deformation problem; this is followed by both simulations and physical experiments, offering readers a solid foundation and useful tools. Given its scope and the results it presents, the book will certainly benefit and inform future research on the topic. It offers a valuable asset for researchers, developers, engineers and graduate students with an interest in compliant mechanisms, robotics and screw theory.

Advances in Mechanism and Machine Science

Tadeusz Uhl
Advances in Mechanism and Machine Science Book PDF

Author : Tadeusz Uhl
Publisher : Springer
Page : 4248 pages
File Size : 43,9 Mb
Release : 2019-06-13
Category : Technology & Engineering
ISBN : 9783030201319

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Advances in Mechanism and Machine Science by Tadeusz Uhl Pdf

This book gathers the proceedings of the 15th IFToMM World Congress, which was held in Krakow, Poland, from June 30 to July 4, 2019. Having been organized every four years since 1965, the Congress represents the world’s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations.

Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots

Dan Zhang,Bin Wei
Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots Book PDF

Author : Dan Zhang,Bin Wei
Publisher : Springer
Page : 527 pages
File Size : 48,6 Mb
Release : 2015-10-20
Category : Technology & Engineering
ISBN : 9783319176833

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Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots by Dan Zhang,Bin Wei Pdf

This book covers the state-of-the-art technologies in dynamic balancing of mechanisms with minimum increase of mass and inertia. The synthesis of parallel robots based on the Decomposition and Integration concept is also covered in detail. The latest advances are described, including different balancing principles, design of reactionless mechanisms with minimum increase of mass and inertia, and synthesizing parallel robots. This is an ideal book for mechanical engineering students and researchers who are interested in the dynamic balancing of mechanisms and synthesizing of parallel robots. This book also: · Broadens reader understanding of the synthesis of parallel robots based on the Decomposition and Integration concept · Reinforces basic principles with detailed coverage of different balancing principles, including input torque balancing mechanisms · Reviews exhaustively the key recent research into the design of reactionless mechanisms with minimum increase of mass and inertia, such as the design of reactionless mechanisms with auxiliary parallelograms, the design of reactionless mechanisms with flywheels, and the design of reactionless mechanisms by symmetrical structure design.

Advances in Robot Kinematics: Analysis and Control

Jadran Lenarčič,Manfred L. Husty
Advances in Robot Kinematics Analysis and Control Book PDF

Author : Jadran Lenarčič,Manfred L. Husty
Publisher : Springer Science & Business Media
Page : 578 pages
File Size : 48,8 Mb
Release : 2013-04-17
Category : Technology & Engineering
ISBN : 9789401590648

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Advances in Robot Kinematics: Analysis and Control by Jadran Lenarčič,Manfred L. Husty Pdf

The contributions in this book were presented at the sixth international symposium on Advances in Robot Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever since its first event, ARK has attracted the most outstanding authors in the area and managed to create a perfect combination of professionalism and friendly athmosphere. We are glad to observe that, in spite of a strong competition of many international conferences and meetings, ARK is continuing to grow in terms of the number of participants and in terms of its scientific impact. In its ten years, ARK has contributed to develop a remarkable scientific community in the area of robot kinematics. The last four symposia were organised under the patronage of the International Federation for the Theory of Machines and Mechanisms -IFToMM. interest to researchers, doctoral students and teachers, The book is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots. It is divided into sections that were found as the prevalent areas of the contemporary kinematics research. As it can easily be noticed, an important part of the book is dedicated to various aspects of the kinematics of parallel mechanisms that persist to be one of the most attractive areas of research in robot kinematics.

New Trends in Mechanism and Machine Science

Philippe Wenger,Paulo Flores
New Trends in Mechanism and Machine Science Book PDF

Author : Philippe Wenger,Paulo Flores
Publisher : Springer
Page : 617 pages
File Size : 47,6 Mb
Release : 2016-09-03
Category : Technology & Engineering
ISBN : 9783319441566

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New Trends in Mechanism and Machine Science by Philippe Wenger,Paulo Flores Pdf

This book collects the most recent advances in mechanism science and machine theory with application to engineering. It contains selected peer-reviewed papers of the sixth International Conference on Mechanism Science, held in Nantes, France, 20-23 September 2016, covering topics on mechanism design and synthesis, mechanics of robots, mechanism analysis, parallel manipulators, tensegrity mechanisms, cable mechanisms, control issues in mechanical systems, history of mechanisms, mechanisms for biomechanics and surgery and industrial and nonindustrial applications.

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 : 44,9 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.

Parallel Robots

J.P. Merlet
Parallel Robots Book PDF

Author : J.P. Merlet
Publisher : Springer
Page : 392 pages
File Size : 43,9 Mb
Release : 2000-07-31
Category : Computers
ISBN : UOM:39015050312639

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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, rigidity and ability to manipulate large loads. Parallel robots 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 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).

Parallel Robots

J.-P. Merlet
Parallel Robots Book PDF

Author : J.-P. Merlet
Publisher : Springer Science & Business Media
Page : 367 pages
File Size : 51,7 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9789401095877

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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, rigidity and ability to manipulate large loads. Parallel robots 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 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).

Parallel Manipulators

Jee-Hwan Ryu
Parallel Manipulators Book PDF

Author : Jee-Hwan Ryu
Publisher : BoD – Books on Demand
Page : 510 pages
File Size : 48,5 Mb
Release : 2008-04-01
Category : Computers
ISBN : 9783902613202

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Parallel Manipulators by Jee-Hwan Ryu Pdf

Parallel manipulators are characterized as having closed-loop kinematic chains. Compared to serial manipulators, which have open-ended structure, parallel manipulators have many advantages in terms of accuracy, rigidity and ability to manipulate heavy loads. Therefore, they have been getting many attentions in astronomy to flight simulators and especially in machine-tool industries.The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in parallel manipulators. This book mainly introduces advanced kinematic and dynamic analysis methods and cutting edge control technologies for parallel manipulators. Even though this book only contains several samples of research activities on parallel manipulators, I believe this book can give an idea to the reader about what has been done in the field recently, and what kind of open problems are in this area.

A Practical Theory of Mechanisms

Paul Grodzinski
A Practical Theory of Mechanisms Book PDF

Author : Paul Grodzinski
Publisher : Walter de Gruyter GmbH & Co KG
Page : 169 pages
File Size : 43,7 Mb
Release : 2021-11-22
Category : Technology & Engineering
ISBN : 9783112515044

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A Practical Theory of Mechanisms by Paul Grodzinski Pdf

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