Geometric Method For Type Synthesis Of Parallel Manipulators
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Geometric Method For Type Synthesis Of Parallel Manipulators
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Author : Qinchuan Li
language : en
Publisher: Springer
Release Date : 2019-07-03
Geometric Method For Type Synthesis Of Parallel Manipulators written by Qinchuan Li and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-07-03 with Technology & Engineering categories.
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.
Topology Design Of Robot Mechanisms
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Author : Ting-Li Yang
language : en
Publisher: Springer
Release Date : 2018-01-02
Topology Design Of Robot Mechanisms written by Ting-Li Yang and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-01-02 with Technology & Engineering categories.
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).
Finite And Instantaneous Screw Theory In Robotic Mechanism
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Author : Tao Sun
language : en
Publisher: Springer Nature
Release Date : 2020-02-13
Finite And Instantaneous Screw Theory In Robotic Mechanism written by Tao Sun and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-02-13 with Technology & Engineering categories.
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
Mechanism Design For Robotics
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Author : Erwin-Christian Lovasz
language : en
Publisher: Springer Nature
Release Date : 2024-09-26
Mechanism Design For Robotics written by Erwin-Christian Lovasz and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-09-26 with Technology & Engineering categories.
This book presents the proceedings of the 6th IFToMM Symposium on Mechanism Design for Robotics (MEDER), held in Timişoara, Romania, 27–29 June 2024. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: theoretical and computational kinematics, mechanism design, experimental mechanics, mechanics of robots, control issues of mechanical systems, machine intelligence, innovative mechanisms and applications, linkages and manipulators, micro-mechanisms, dynamics of machinery and multi-body systems. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments.
Theory Of Parallel Mechanisms
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Author : Zhen Huang
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-07-26
Theory Of Parallel Mechanisms written by Zhen Huang and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-07-26 with Technology & Engineering categories.
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.
Advances In Mechanism And Machine Science
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Author : Tadeusz Uhl
language : en
Publisher: Springer
Release Date : 2019-06-13
Advances In Mechanism And Machine Science written by Tadeusz Uhl and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-06-13 with Technology & Engineering categories.
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.
Type Synthesis Of Parallel Mechanisms
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Author : Xianwen Kong
language : en
Publisher: Springer
Release Date : 2007-10-28
Type Synthesis Of Parallel Mechanisms written by Xianwen Kong and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-10-28 with Technology & Engineering categories.
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.
Geometric Design Of Linkages
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Author : J. Michael McCarthy
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-11-11
Geometric Design Of Linkages written by J. Michael McCarthy and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-11-11 with Science categories.
This book is an introduction to the mathematical theory of design for articulated mechanical systems known as linkages. The focus is on sizing mechanical constraints that guide the movement of a work piece, or end-effector, of the system. The function of the device is prescribed as a set of positions to be reachable by the end-effector; and the mechanical constraints are formed by joints that limit relative movement. The goal is to find all the devices that can achieve a specific task. Formulated in this way the design problem is purely geometric in character. Robot manipulators, walking machines, and mechanical hands are examples of articulated mechanical systems that rely on simple mechanical constraints to provide a complex workspace for the end- effector. The principles presented in this book form the foundation for a design theory for these devices. The emphasis, however, is on articulated systems with fewer degrees of freedom than that of the typical robotic system, and therefore, less complexity. This book will be useful to mathematics, engineering and computer science departments teaching courses on mathematical modeling of robotics and other articulated mechanical systems. This new edition includes research results of the past decade on the synthesis of multi loop planar and spherical linkages, and the use of homotopy methods and Clifford algebras in the synthesis of spatial serial chains. One new chapter on the synthesis of spatial serial chains introduces numerical homotopy and the linear product decomposition of polynomial systems. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are use throughout to demonstrate the theory.
New Trends In Mechanism Science
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Author : Doina Pisla
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-08-12
New Trends In Mechanism Science written by Doina Pisla and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-08-12 with Technology & Engineering categories.
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.
Mechanism And Machine Science
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Author : Dibakar Sen
language : en
Publisher: Springer Nature
Release Date : 2020-07-01
Mechanism And Machine Science written by Dibakar Sen and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-07-01 with Technology & Engineering categories.
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.