Basic overconstrained topologies with schönflies motions
著者
書誌事項
Basic overconstrained topologies with schönflies motions
（Solid mechanics and its applications, v. 206 . Structural synthesis of parallel robots ; pt. 5/a）
Springer, c2014
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内容説明・目次
内容説明
This book represents the fifth 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 overconstraints with evolutionary morphology in a unified structural synthesis approach that yields interesting and innovative solutions for parallel robotic manipulators.
This is the first book on robotics that presents solutions for coupled, decoupled, uncoupled, fully-isotropic and maximally regular robotic manipulators with Schoenflies motions systematically generated by using the structural synthesis approach proposed in Part 1. Overconstrained non-redundant/overactuated/redundantly actuated solutions with simple/complex limbs are proposed. Many solutions are presented here for the first time in the literature. The author had to make a difficult and challenging choice between protecting these solutions through patents and releasing them directly into the public domain. The second option was adopted by publishing them in various recent scientific publications and above all in this book. In this way, the author hopes to contribute to a rapid and widespread implementation of these solutions in future industrial products.
目次
Preface
1 Introduction
2 Fully-parallel topologies with coupled Schoenflies motions
3 Overactuated topologies with coupled Schoenflies motions
4 Fully-parallel topologies with decoupled Schoenflies motions
5 Topologies with uncoupled Schoenflies motions
6 Maximally regular topologies with Schoenflies motions
Index
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