Geometric Method for Type Synthesis of Parallel Manipulators

By Qinchuan Li, Jacques M. Hervé, Wei Ye

Introduction.- Fundamentals of group theory.- Rotation and displacements of rigid body.- Lie group based method for type synthesis of parallel mechanisms.- Type Synthesis of 5-DOF 3R2T Parallel Mechanisms.- Type Synthesis of 4-DOF 2R2T Parallel Mechanisms.- Type Synthesis of 4-DOF Parallel Mechanisms with Bifurcation of Schoenflies Motion.- Type Synthesis of 3-DOF RPR-equivalent Parallel Mechanisms.- Type Synthesis of 3-DOF PU-equivalent Parallel Mechanisms.- Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators with Fixed Linear Actuators for Minimally Invasive Surgery.- Type synthesis of Non-overconstrainted 3-DOF Translational parallel mechanisms with Less Structural Shakiness.- Type synthesis of Pan-Tilt Wrists with Uncoupled Actuation.

• Format: Hardcover
• Language: English
• ISBN: 9811387540
• ISBN13: 9789811387548
• Release Date: September 2019
• Publisher: Springer
• Length: 238 Pages
• Weight: 1.17 lbs.
• Dimensions: 0.6" x 6.1" x 9.2"