Structural Synthesis of Parallel Robots
Springer; 1 edition | May 4, 2009 | ISBN-10: 140209793X | 762 pages | PDF | 10.35 MB
This book represents the second part of a larger work dedicated to the structural synthesis of parallel robots.
The originality of this work resides in the fact that it combines new formulae for mobility connectivity, redundancy and over constraint, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel robotic manipulators. This is the first book of robotics presenting solutions of coupled, decoupled, uncoupled, fully-isotropic and maximally regular translational parallel robotic manipulators systematically generated by using the structural synthesis approach proposed in Part 1. Non-redundant/redundant, overconstrained/isostatic solutions with simple/complex limbs actuated by linear/rotary actuators with/without idle mobilities are proposed. Many solutions are presented here for the first time in the literature.