Theory Of Parallel Mechanisms
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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.
Analysis And Synthesis Of Compliant Parallel Mechanisms Screw Theory Approach
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Author : Chen Qiu
language : en
Publisher: Springer Nature
Release Date : 2020-06-23
Analysis And Synthesis Of Compliant Parallel Mechanisms Screw Theory Approach written by Chen Qiu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-06-23 with Technology & Engineering categories.
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.
Analysis And Synthesis Of Compliant Parallel Mechanisms Screw Theory Approach
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Author : Chen Qiu
language : en
Publisher:
Release Date : 2021
Analysis And Synthesis Of Compliant Parallel Mechanisms Screw Theory Approach written by Chen Qiu and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with Electronic books categories.
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
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Author : Xin-Jun Liu
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-08-15
Parallel Kinematics written by Xin-Jun Liu 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 2013-08-15 with Technology & Engineering categories.
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.
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.
New Trends In Mechanism And Machine Science
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Author : Philippe Wenger
language : en
Publisher: Springer
Release Date : 2016-09-03
New Trends In Mechanism And Machine Science written by Philippe Wenger and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-09-03 with Technology & Engineering categories.
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.
Screw Theory Based Stiffness Analysis Of Compliant Parallel Mechanisms
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Author : Chen Qiu
language : en
Publisher:
Release Date : 2016
Screw Theory Based Stiffness Analysis Of Compliant Parallel Mechanisms written by Chen Qiu and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
Firstly, the synthesis design problems of compliant parallel mechanisms are explored at both the conceptual-design level and dimensional-design level. At the conceptual-design level where mainly degrees of freedom and constraints are considered, screw theory is implemented to generate the arrangement of constraint flexible elements as well as actuators for given motions of a compliant parallel mechanism. At the dimensional-design level where the stiffness of compliant parallel mechanisms are considered, algorithms are developed that are able to decompose the pre-determined stiffness matrix of a compliant parallel mechanism into a combination of flexible elements, thus achieving complete synthesis without knowing the original layout of the compliant parallel mechanism. Then the optimization design of compliant parallel mechanisms is investigated following the stiffness synthesis. Ortho-planar springs are selected as examples, and their six-dimensional compliance performances are evaluated in forms of compliance matrices and optimized by conducting parameterization and optimization analysis of the design parameters. Finally this thesis investigates the large deformation problem of compliant parallel mechanisms using origami-inspired compliant mechanisms. Experimental tests are conducted to explore the stiffness behaviours of crease-type flexures, based on which a novel repelling-screw based analytical approach is proposed to analyze the force transmission of compliant origami structures undertaking large deformations. This also leads to the developments of a series of bio-inspired continuum robots and manipulators.
Parallel Manipulators Of Robots
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Author : Korganbay Sagnayevich Sholanov
language : en
Publisher: Springer Nature
Release Date : 2020-09-10
Parallel Manipulators Of Robots written by Korganbay Sagnayevich Sholanov and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-09-10 with Technology & Engineering categories.
This book describes the theoretical framework of parallel manipulators and presents examples of their application. The theoretical part begins with the theory of parallel manipulator synthesis. Working on this basis, various topology designs of one-loop and multiloop parallel manipulators are then obtained. The next section describes the zero parameters method for the analysis of mechanism (manipulator) structure with closed kinematic circuits, and includes examples of its application, highlighting its advantages compared to traditional methods. The book then presents the redundant parameters method for determining the position of special parallel manipulator links, and discusses its application in solving the direct problem of link position for multiloop manipulators. It also addresses one-loop and multiloop manipulators, and includes a solution for the direct and inverse link position problems of kinematics. In closing, the book presents a range of potential applications for parallel manipulator. These examples are intended to promote the development and implementation of new engineering solutions, e.g. in seismic protection systems, renewable energy and other areas. The book includes a wealth of material that can be used for teaching undergraduate, graduate and PhD students majoring in robotics, automation and related fields, and can also be used by researchers to solve problems in connection with introducing robotics technologies.
New Trends In Mechanism And Machine Science
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Author : Fernando Viadero-Rueda
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-09-13
New Trends In Mechanism And Machine Science written by Fernando Viadero-Rueda 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 2012-09-13 with Technology & Engineering categories.
This book contains the papers of the European Conference on Mechanisms Science (EUCOMES 2012 Conference). The book presents the most recent research developments in the mechanism and machine science field and their applications. Topics addressed are theoretical kinematics, computational kinematics, mechanism design, experimental mechanics, mechanics of robots, dynamics of machinery, dynamics of multi-body systems, control issues of mechanical systems, mechanisms for biomechanics, novel designs, mechanical transmissions, linkages and manipulators, micro-mechanisms, teaching methods, history of mechanism science and industrial and non-industrial applications. This volume will also serve as an interesting reference for the European activity in the fields of Mechanism and Machine Science as well as a source of inspirations for future works and developments.
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).