Structural Synthesis of Parallel Robots Part 1 Methodology [Hardcover]

This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. Part 1 presents the methodology proposed for structural synthesis. Part 2 presents the various topologies of parallel robots generated by this systematic approach. Many solutions are presented here for the first time. The book will contribute to a widespread implementation of these solutions in industrial products.

Preface; Acknowledgements; List of abbreviations and notations; 1 Introduction; 1.1 Robot; 1.2 Robotics; 1.3 Parallel Robot; 1.4 Terminology ; 1.5 Structural synthesis; 1.6 The objectives and originality of this book ; 2 Structural parameters; 2.1 Critical review of mobility calculation ; 2.1.1 Chebychevs contribution; 2.1.2 Sylvesters contribution ; 2.1.3 Gr?blers contribution; 2.1.4 Somovs contribution; 2.1.5 Hochmans contribution; 2.1.6 Somov-Malytsheffs formula ; 2.1.7 Koenigs formula; 2.1.8 Kutzbachs mobility equation; 2.1.9 Dobrovolskis mobility equation ; 2.1.10 Contribution of Y.F. Moroskine; 2.1.11 Contribution of R. Voinea and M. Atanasiu ; 2.1.12 Kolchins mobility equation; 2.1.13 R?ssners contribution ; 2.1.14 Bodens mobility equation; 2.1.15 Manafus formula ; 2.1.16 0zols formula; 2.1.17 Contribution of K. J. Waldron ; 2.1.18 Contribution of N. Manolescu ; 2.1.19 Contribution of C. Bagci; 2.1.20 Contribution of P. Antonescu ; 2.1.21 Contribution of F. Freudenstein and R. Alizade ; 2.1.22 Hunts contribution ; 2.1.23 Herv?s contribution; 2.1.24 Gronowiczs contribution ; 2.1.25 Bakers contribution; 2.1.26 Daviess contribution ; 2.1.27 Contribution of V.P. Agrawal and J.S. Rao ; 2.1.28 Contribution of J. Angeles and C. Gosselin ; 2.1.29 Contribution of F. Dudita and D. Diaconescu ; 2.1.30 Contribution of P. Fanghella and C. Galletti ; 2.1.31 Fayets contribution ; 2.1.32 Tsais formula; 2.1.33 McCarthys formula ; 2.1.34 Contribution of Z. lƒ-