Structural Synthesis of Parallel Robots

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 Schönflies 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.

Combines the new formulae for mobility connectivity, redundancy and over constraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms Many solutions for parallel robots obtained through this systematic approach of structural synthesis are presented, for the first time in the literature Special attention was paid to graphic quality of structural diagrams to ensure a clear correspondence between the symbolic and graphic notation of joints and the relative position of their axes

Inhalt

Preface.- 1 Introduction.- 2 Fully-parallel topologies with coupled Schönflies motions.- 3 Overactuated topologies with coupled Schönflies motions.- 4 Fully-parallel topologies with decoupled Schönflies motions.- 5 Topologies with uncoupled Schönflies motions.- 6 Maximally regular topologies with Schönflies motions.- Index.