Structural synthesis of parallel mechanisms
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The monograph is devoted to the structural synthesis of parallel mechanisms (PM), which is one of the most important tasks in the development and design of a variety of innovative devices based on the use of parallel mechanisms: parallel manipulators, machines with parallel kinematics, moving simulators, tactile devices, micro- and nanomanipulators. The structural synthesis of parallel mechanisms consists in finding all PM structures that implement the required movement. The book conducts a classification of PM, a effective method of structural synthesis of PM and a large number of parallel mechanisms suitable for the practical use of parallel mechanisms are given. The approach to synthesis is based on the concept of virtual chains and the use of elementary notation of the theory of screws. When using this approach, the family of parallel mechanisms is constructed from a set of compositional units. This approach is conceptually simple and convenient. In addition, to simplify the understanding of the architecture of any parallel mechanism, the book contains a generalized procedure for analyzing the mobility of PM. For reading this book, only the initial knowledge of linear algebra and kinematics is necessary.
The book is intended for researchers, developers, engineers and graduate students interested in robotics, designing machines and mechanisms and the theory of screws
The book is intended for researchers, developers, engineers and graduate students interested in robotics, designing machines and mechanisms and the theory of screws
Author:
Author:Кун С., Госселин К.
Cover:
Cover:Hard
Category:
- Category:Business & Money
ISBN:
ISBN:978-5-9221-1396-0
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