Topology Design of Robot Mechanisms

Presents a new systematic theory for studying a mechanism's topological structure

Reveals an easy-to-implement method for the topological structure design of mechanisms

Provides illustrative examples to guide readers through the entire design process

Serves as a theoretical guide for researchers and a work manual for designers

Autorentext

Inhalt

Introduction.- Topological structure of mechanisms and mathematical representation.- Position and orientation characteristic of mechanisms and mathematical representation.- Topological structure equations of mechanisms.- General DOF formula of mechanisms.- Composition principle and topological structure characteristics of mechanisms.- General method for topological structure synthesis of mechanisms.- Topological structure design of 3-DOF parallel mechanisms.- Topological structure design of 4-DOF parallel mechanisms.- Topological structure design of 5-DOF parallel mechanisms.- Topological structure design of 6-DOF parallel mechanisms.- Conclusion.