Parallel Kinematics

This book covers the systematic classification of parallel mechanisms (PMs) as well as provides a large number of mechanical architectures of PMs available for use in practical applications. It focuses on the kinematic design of parallel robots.

Parallel Kinematics- Type, Kinematics, and Optimal Design presents the results of 15 year's research on parallel mechanisms and parallel kinematics machines. This book covers the systematic classification of parallel mechanisms (PMs) as well as providing a large number of mechanical architectures of PMs available for use in practical applications. It focuses on the kinematic design of parallel robots. One successful application of parallel mechanisms in the field of machine tools, which is also called parallel kinematics machines, has been the emerging trend in advanced machine tools. The book describes not only the main aspects and important topics in parallel kinematics, but also references novel concepts and approaches, i.e. type synthesis based on evolution, performance evaluation and optimization based on screw theory, singularity model taking into account motion and force transmissibility, and others.

This book is intended for researchers, scientists, engineers and postgraduates or above with interests in robotics and advanced machine tools technology such as parallel kinematics machines (PKMs).

Xinjun Liu and Jinsong Wang, professors, work at The Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University.

The first book concerning about kinematics of parallel mechanisms covering type, kinematics and optimal design Presenting many novel concepts and approaches, i.e. type synthesis based on evolution, performance evaluation and optimization based on screw theory, singularity analysis taking into account motion and force transmissibility Providing a large number of novel mechanical architectures of PMs available for use in practical application Includes supplementary material: sn.pub/extras

Inhalt

Part I Mechanism Type.- Classification of Parallel Mechanisms.- Type Synthesis of Parallel Mechanisms.- Part II Kinematic Analysis.- Position Analysis of Parallel Mechanisms.- Velocity and Jacobian Analysis of Parallel Mechanisms.- Singularity of Parallel Mechanisms.- Workspace of Parallel Mechanisms.- Part III Optimal Kinematic Design.- Performance Evaluation of Parallel Mechanisms.- Dimensional Synthesis of Parallel Mechanisms.- Kinematic Optimal Design of A Spatial 3-Dof Parallel Manipulator.