Qinchuan Li, Jacques M. Hervé, Wei Ye

Geometric Method for Type Synthesis of Parallel Manipulators

• Gebundenes Buch

Produktbeschreibung

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.

Produktdetails

• Springer Tracts in Mechanical Engineering
• Verlag: Huazhong University of Science and Technology Press / Springer / Springer Nature Singapore / Springe
• Artikelnr. des Verlages: 978-981-13-8754-8
• Seitenzahl: 252
• Erscheinungstermin: 16. Juli 2019
• Englisch
• Abmessung: 241mm x 160mm x 20mm
• Gewicht: 534g
• ISBN-13: 9789811387548
• ISBN-10: 9811387540
• Artikelnr.: 56505809

Autorenporträt

Qinchuan Li, born in 1975, is currently a professor and a Ph.D. supervisor at Zhejiang Sci-Tech University, China. He received his Ph.D. degree in mechanism design and theory from Yanshan University, China, in 2003. His research interests include mechanism theory and application of parallel manipulators and minimally invasive surgical robots. He has published more than 80 refereed full papers in engineering design and robotics journals. He received the financial support of the National Science Foundation for Distinguished Young Scholars in 2015. Chao Yang, born in 1982, received a B.E. degree in Process Equipment and Control Engineering from Zhengzhou University of Light Industry, Zhengzhou, China, in 2005, an M.E. degree in engineering mechanics from Dalian University of Technology, Dalian, China, in 2009, and a Ph.D. degree in mechanical engineering from Zhejiang Sci-Tech University, Hangzhou, China, in 2019. Dr. Chao Yang joined the faculty of mechanical engineering, Jiaxing University, in 2019, where he is currently a lecturer. His main research interests include kinematics, stiffness, dynamics, and multi-objective optimization of parallel manipulators. Since 2018, Dr. Yang has published 11 peer-reviewed technical papers in international journals and conferences. Lingmin Xu, born in 1993, received his B.E. and Ph.D. degrees in Mechanical Engineering from Zhejiang Sci-Tech University, Hangzhou, China, in 2015 and 2021, respectively. From November 2018 to November 2019, he was a visiting graduate student at the University of Illinois at Chicago, Chicago, USA. Dr. Xu is currently a postdoc with the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China. He has authored more than 20 articles in journals and conferences. He has applied for more than 20 patents and authorized a U.S. invention patent as the first inventor. His research interests include type synthesis, kinematics performance evaluation, and dynamics of parallel manipulators. Wei Ye, born in 1988, is currently an associate professor at Zhejiang Sci-Tech University, China. He received his Ph.D. degree on mechanism design and theory from Beijing Jiaotong University, China, in 2016. His research interests include design and analysis of reconfigurable parallel mechanisms. He has published more than 30 refereed full papers in the field of mechanisms and robotics.

Inhaltsangabe

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.

Rezensionen

"The intended audience for this book consists of mechanical and control researchers and engineers as well as graduate and Ph.D. students in manipulators and robotics." (Clementina Mladenova, zbMATH 1425.70001, 2019)