Geometric Method for Type Synthesis of Parallel Manipulators
| Autor: | Hervé, Jacques M. Li, Qinchuan Ye, Wei |
|---|---|
| EAN: | 9789811387548 |
| Auflage: | 001 |
| Sachgruppe: | Technik |
| Sprache: | Englisch |
| Seitenzahl: | 252 |
| Produktart: | Gebunden |
| Veröffentlichungsdatum: | 16.07.2019 |
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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.
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