By Xin-Jun Liu
Parallel Kinematics- variety, Kinematics, and optimum layout presents the result of 15 year's learn on parallel mechanisms and parallel kinematics machines. This publication covers the systematic class of parallel mechanisms (PMs) in addition to offering a good number of mechanical architectures of PMs on hand to be used in useful purposes. It makes a speciality of the kinematic layout of parallel robots. One profitable software of parallel mechanisms within the box of laptop instruments, that's often known as parallel kinematics machines, has been the rising pattern in complicated computer instruments. The e-book describes not just the most facets and critical subject matters in parallel kinematics, but in addition references novel options and ways, i.e. kind synthesis in keeping with evolution, functionality review and optimization in accordance with screw thought, singularity version making an allowance for movement and strength transmissibility, and others.
This e-book is meant for researchers, scientists, engineers and postgraduates or above with pursuits in robotics and complex desktop instruments expertise reminiscent of parallel kinematics machines (PKMs).
Xinjun Liu and Jinsong Wang, professors, paintings on the Institute of producing Engineering, division of Precision tools and Mechanology, Tsinghua University.
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Extra info for Parallel Kinematics: Type, Kinematics, and Optimal Design
Sample text
25) can be used to find an n-system of twists. For a parallel manipulator illustrated in Fig. 6, when each kinematic pair in a limb is expressed as a unit screw, all these unit screws form a limb twist system (LTS). The linearly independent joint screws of a limb form an n-system. The reciprocal screws form a (6-n)-system, called a limb wrench system or a limb constraint system (LCS). In a low-DOF parallel manipulator, we note that a single limb exerts some restrictions on the moving platform. The overall constraint imposed on the moving platform, which is called a platform wrench system or a platform constraint system (PCS), is obtained by a combination of all LCSs.
The other matrices follow this rule. 27) indicates that link 3 applies no self-rotation during translational motion. When the movement of link 3 is of spatial type with respect to link 1 (Fig. 3 Type Synthesis 47 Fig. 12 Kinematic characteristic analysis of a UU chain: (a) initial configuration, (b) configuration when links 1 and 3 are parallel to each other, and (c) configuration when links 1 and 3 are not parallel to each other Given that the y1 -axis is always parallel to the y2 -axis, Eq. 29) which is actually the transformation matrix with Euler-angle z-y-z convention.
36 generates the 6-DOF parallel mechanism presented in Fig. 37a. The number of DOFs of the mechanism differs if the two most adjacent legs have identical input. This is a topological mechanism of DELTA with linear actuators. Replacing the active P joints of the mechanism in Fig. 37a with R joints and fixing them to the base result in the modified mechanism with revolute actuators presented by Pierrot (1991; Fig. 3). Similarly, the mechanism can evolve to a DELTA robot. The fact that the two nearby revolute actuators in Fig.