CiNii Books - Translational topologies with two and three degrees of freedom

Author(s)

- Gogu, Grigore

Bibliographic Information

Translational topologies with two and three degrees of freedom

Grigore Gogu

（Solid mechanics and its applications, v. 159 . Structural synthesis of parallel robots ; pt. 2）

Springer, c2009

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Science and Technology Library, Kyushu University

023212009001455

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Note

Includes bibliographical reference (p. 749-757) and index

Description and Table of Contents

Description

"The mathematical investigations referred to bring the whole apparatus of a great science to the examination of the properties of a given mechanism, and have accumulated in this direction rich material, of enduring and increasing value. What is left unexamined is however the other, immensely deeper part of the problem, the question: How did the mechanism, or the elements of which it is composed, originate? What laws govern its building up? Is it indeed formed according to any laws whatever? Or have we simply to accept as data what invention gives us, the analysis of what is thus obtained being the only scientific problem left - as in the case of natural history?" Reuleaux, F., Theoretische Kinematik, Braunschweig: Vieweg, 1875 Reuleaux, F., The Kinematics of Machinery, London: Macmillan, 1876 and New York: Dover, 1963 (translated by A.B.W. Kennedy) This book represents the second part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 already published in 2008 (Gogu 2008a) has presented the methodology proposed for structural synthesis. This book focuses on various topologies of translational parallel robots systematically generated by using the structural synthesis approach proposed in Part 1. The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms.

Table of Contents

Preface
1. Translational parallel robots with two degrees of freedom T2-type
1.1. Translational parallel robots T2-type with coupled motions
1.2. Translational parallel robots T2-type with decoupled motions
1.3. Translational parallel robots T2-type with uncoupled motions
1.4. Maximally regular translational parallel robots T2-type
2. Parallel robots with screw motion T1R1-type
2.1. Parallel robots with screw motions and coupled motions
2.2. Parallel robots with screw motions and decoupled motions
2.3. Parallel robots with screw motions and uncoupled motions
2.4. Maximally regular parallel robots with screw motion
3. Other parallel robots with two degrees of freedom T1R1-type
3.1. Parallel robots T 1R1 -type with coupled motions
3.2. Parallel robots T1R1-type with decoupled motions
3.3. Parallel robots T1R1-type with uncoupled motions
3.4. Maximally regular parallel robots T1R1-type
4. Spherical parallel wrists with two degrees of freedom R2-type
4.1. Parallel wrists R2-type with coupled motions
4.2. Parallel wrists R2-type with decoupled motions
4.3. Parallel wrists R2-type with uncoupled motions
4.4. Maximally regular parallel wrists R2-type
5. Translational parallel robots with three degrees of freedom
5.1. Translational parallel robots T3-type with coupled motions
5.2. Translational parallel robots T3-type with decoupled motions
5.3. Translational parallel robots T3-type with uncoupled motions
5.4. Maximally regular translational parallel robots T3-type
6. Parallel robots with planar motion T2R 1-type
6.1. Parallel robots with planar coupled motions
6.2. Parallel robots with planar decoupled motions
6.3. Parallel robots with planar uncoupled motions
6.4. Maximally regular planar parallel robots
7. Other parallel robots with three degrees of freedom T2R 1-type
7.1. Parallel robots T2R1-type with coupled motions
7.2. Parallel robots T2R1-type with decoupled motions
7.3. Parallel robots T2R1-type with uncoupled motions
7.4. Maximally regular parallel robots T2R 1-type
8. Parallel robots with three degrees of freedom T1R2-type
8.1. Parallel robots T1R2-type with coupled motions
8.2. Parallel robots T1R2-type with decoupled motions
8.3. Parallel robots T1R2-type with uncoupled motions
8.4. Maximally regular parallel robots T1R2-type
9. Spherical parallel wrists with three degrees of freedom R3-type
9.1. Parallel wrists R3-type with coupled motions
9.2. Parallel wrists R3-type with decoupled motions
9.3. Parallel wrists R3-type with uncoupled motions
9.4. Maximally regular parallel wrists R3-type
10. Parallel robots with Schoenflies motion T3R 1-type
10.1. Parallel robots with coupled Schoenflies motions
10.2. Parallel robots with Schoenflies decoupled motions
10.3. Parallel robots with Schoenflies uncoupled motions
10.4. Maximally regular parallel robots with Schoenflies motion
11. Other parallel robots with four degrees of freedom T3R1 -type
11.1. Parallel robots T3R1 -type with coupled motions
11.2. Parallel robots T3R1-type with decoupled motions
11.3. Parallel robots T3R1-type with uncoupled motions
11.4. Maximally regular parallel robots T3R1-type
12. Parallel robots with four degrees of freedom T2R2-type
12.1. Parallel robots T2R2-type with coupled motions
12.2. Parallel robots T2R2-type with decoupled motions
12.3. Parallel robots T2R2-type with uncoupled motions
12.4. Maximally regular parallel robots T2R2-type
13. Parallel robots with four degrees of freedom T1R3-type
13. 1. Parallel robots T1R3-type with coupled motions
13.2. Parallel robots T1R3-type with decoupled motions
13.3. Parallel robots T1R3-type with uncoupled motions
13.4. Maximally regular parallel robots T1R3-type
14. Parallel robots with five degrees of freedom T3R2-type
14.1. Parallel robots T3R2-type with coupled motions
14.2. Parallel robots T3R2-type with decoupled motions
14.3. Parallel robots T3R2-type with uncoupled motions
14.4. Maximally regular parallel robots T3R2-type
15. Parallel robots with five degrees of freedom T2R3-type
14. 1 . Parallel robots T2R3-type with coupled motions
14.2. Parallel robots T2R3-type with decoupled motions
14.3. Parallel robots T2R3-type with uncoupled motions
14.4. Maximally regular parallel robots T2R3-type
16. Parallel robots with six degrees of freedom
16. 1 . Parallel robots with six coupled motions
16.2. Parallel robots with six decoupled motions
16.3. Parallel robots with six uncoupled motions
16.4. Maximally regular parallel robots with six degrees of freedom

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