Structural Synthesis of Parallel Robots

by Gogu, Grigore

• ISBN13: 9781402097935
• ISBN10: 140209793X
• Format: Hardcover
• Copyright: 2009-05-04
• Publisher: Springer Verlag

Summary

This book represents the second 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 overconstraint, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel robotic manipulators. This is the first book of robotics presenting solutions of coupled, decoupled, uncoupled, fully-isotropic and maximally regular translational parallel robotic manipulators systematically generated by using the structural synthesis approach proposed in Part 1. Non-redundant/redundant, overconstrained/isostatic solutions with simple/complex limbs actuated by linear/rotary actuators with/without idle mobilities 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 mainly in this book. In this way, the author hopes to contribute to a rapid and widespread implementation of these solutions in future industrial products.

Table of Contents

Preface	p. vii
Acknowledgements	p. xiii
List of abbreviations and notations	p. xv
Introduction	p. 1
Terminology	p. 1
Methodology of structural synthesis	p. 7
New formulae for mobility, connectivity, redundancy and overconstraint of parallel robots	p. 8
Evolutionary morphology approach	p. 13
Types of parallel robots with respect to motion coupling	p. 14
Translational parallel robots	p. 15
Translational parallel robots with two degrees of freedom	p. 23
T2-type translational parallel robots with coupled motions	p. 23
Overconstrained solutions	p. 23
Non overconstrained solutions	p. 54
T2-type translational parallel robots with decoupled motions	p. 66
Overconstrained solutions	p. 66
Non overconstrained solutions	p. 78
T2-type translational parallel robots with uncoupled motions	p. 85
Overconstrained solutions	p. 86
Non oversconstrained solutions	p. 89
Maximally regular T2-type translational parallel robots	p. 93
Overconstrained solutions	p. 93
Non overconstrained solutions	p. 95
Other T2-type translational parallel robots	p. 97
Overconstrained solutions	p. 98
Non overconstrained solutions	p. 105
Overconstrained T3-type TPMs with coupled motions	p. 107
Basic solutions with linear actuators	p. 108
Derived solutions with linear actuators	p. 138
Basic solutions with rotating actuators	p. 194
Derived solutions with rotating actuators	p. 266
Non overconstrained T3-type TPMs with coupled motions	p. 365
Basic solutions with linear actuators	p. 365
Derived solutions with linear actuators	p. 375
Basic solutions with rotating actuators	p. 401
Derived solutions with rotating actuators	p. 412
Overconstrained T3-type TPMs with uncoupled motions	p. 471
Basic solutions with rotating actuators	p. 471
Derived solutions with rotating actuators	p. 537
Non overconstrained T3-type TPMs with uncoupled motions	p. 615
Basic solutions with rotating actuators	p. 615
Derived solutions with rotating actuators	p. 621
Maximally regular T3-type translational parallel robots	p. 687
Overconstrained solutions	p. 687
Basic solutions with no idle mobilities	p. 687
Derived solutions with idle mobilities	p. 706
Non overconstrained solutions	p. 731
References	p. 749
Index	p. 759
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