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Parallel Kinematics: Type, Kinematics, and Optimal Design

Parallel Kinematics: Type, Kinematics, and Optimal Design
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Feldname Details
Vorliegende Sprache eng
Hinweise auf parallele Ausgaben 393839338 Druckausg.: ‡Liu, Xin-Jun: Parallel kinematics
ISBN 978-3-642-36928-5
Name Liu, Xin-Jun
Wang Jinsong
Name ANZEIGE DER KETTE Wang Jinsong
T I T E L Parallel Kinematics
Zusatz zum Titel Type, Kinematics, and Optimal Design
Verlagsort Berlin, Heidelberg ; s.l.
Verlag Springer Berlin Heidelberg
Erscheinungsjahr 2014
2014
Umfang Online-Ressource (XIII, 309 p. 239 illus, online resource)
Reihe Springer Tracts in Mechanical Engineering
Notiz / Fußnoten Description based upon print version of record
Weiterer Inhalt Preface; Contents; Nomenclature; Part I Mechanism Type; Chapter 1: Classification of Parallel Mechanisms; 1.1 Definition and Characteristics; 1.2 Joints and Legs; 1.3 Architectures; 1.3.1 Two-DOF Parallel Mechanisms; 1.3.2 Three-DOF Parallel Mechanisms; 1.3.3 Four-DOF Parallel Mechanisms; 1.3.4 Five-DOF Parallel Mechanisms; 1.3.5 Six-DOF Parallel Mechanisms; References; Chapter 2: Type Synthesis of Parallel Mechanisms; 2.1 DOF Analysis; 2.1.1 Observation Method; 2.1.2 Evolution Method; 2.1.3 Kinematic Analysis Method; 2.1.4 Method Based on Screw Theory; 2.2 Evolution of Parallel Mechanisms. 2.3 Type Synthesis2.3.1 Type Synthesis of Parallel Mechanismswith Parallelogram; 2.3.1.1 Motivation; 2.3.1.2 Concept of a Parallelogram; 2.3.1.3 Some Parallel Mechanisms Containing a Planar Parallelogram; 2.3.2 Type Synthesis Based on the Evolution Method; References; Part II Kinematic Analysis; Chapter 3: Position Analysis of Parallel Mechanisms; 3.1 Position Analysis of the 5R Parallel Mechanism; 3.1.1 Inverse Kinematics; 3.1.2 Direct Kinematics; 3.2 Position Analysis of a 2-DOF Translational Parallel Mechanism; 3.2.1 Two-P(Pa) Parallel Mechanism; 3.2.2 The RRR&PRRR Parallel Mechanism. 3.3 Position Analysis of a 2-DOF Spherical Parallel Mechanism3.3.1 Inverse Kinematics; 3.3.2 Direct Kinematics; 3.4 Position Analysis of a 3-DOF Translational Parallel Mechanism; 3.4.1 DELTA; 3.4.2 A Parallel Cube-Manipulator; 3.4.2.1 Inverse Kinematics Problem; 3.4.2.2 Direct Kinematics Problem; 3.5 Position Analysis of a 3-DOF Spherical Parallel Mechanism; 3.6 Position Analysis of the 2-PRU&1-PR(Pa)R Parallel Mechanism; 3.6.1 Inverse Kinematics; 3.6.2 Direct Kinematics; 3.7 Position Analysis of the 2-RRU&1-RR(Pa)R Parallel Mechanism; 3.7.1 Inverse Kinematics; 3.7.2 Direct Kinematics. 3.8 Position Analysis of a 2-PRU&1-PRC Parallel Mechanism3.9 Position Analysis of the 3-[PP]S Type of Parallel Mechanism; 3.9.1 Orientation Description; 3.9.2 Kinematics of the Two [PP]S Parallel Mechanisms; 3.10 Position Analysis of a Simplified 6-RUS Parallel Mechanism; References; Chapter 4: Velocity and Jacobian Analysis of Parallel Mechanisms; 4.1 The Planar 5R Parallel Mechanism; 4.2 The Translational RRR&PRRR Parallel Mechanism; 4.3 A Parallel Cube-Manipulator; 4.4 The 2-PRU&1-PR(Pa)R Parallel Mechanism; 4.5 The 2-RRU&1-RR(Pa)R Parallel Mechanism. 4.6 The Simplified 6-RUS Parallel MechanismChapter 5: Singularity of Parallel Mechanisms; 5.1 Singularity of the 5R Parallel Mechanism; 5.1.1 The First Kind of Singularity; 5.1.2 The Second Kind of Singularity; 5.1.3 The Third Kind of Singularity; 5.2 Singularity of the 2-RRU&1-RR(Pa)R Parallel Mechanism; 5.2.1 The First Kind of Singularity; 5.2.2 The Second Kind of Singularity; 5.2.3 The Third Kind of Singularity; 5.3 Singularity of the 2-PRU&1-PR(Pa)R Parallel Mechanism; 5.3.1 The First Kind of Singularity; 5.3.2 The Second Kind of Singularity; 5.3.3 The Third Kind of Singularity. 5.4 Singularity Analysis of Parallel Manipulators Taking into Account the Motion and Force Transmissibility
Titelhinweis Druckausg.: ‡Liu, Xin-Jun: Parallel kinematics
ISBN ISBN 978-3-642-36929-2
Klassifikation TGB
TEC009070
621
531.112
TJ1-1570
ZL 4120
Kurzbeschreibung 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). Xin-Jun Liu and Jinsong Wang, professors, work at The Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University
1. Schlagwortkette Parallelstruktur <Maschinenbau>
ANZEIGE DER KETTE Parallelstruktur
SWB-Titel-Idn 393381412
Signatur Springer E-Book
Bemerkungen Elektronischer Volltext - Campuslizenz
Elektronische Adresse $uhttp://dx.doi.org/10.1007/978-3-642-36929-2
Internetseite / Link Volltext
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