Download Parallel Kinematics: Type, Kinematics, and Optimal Design by Xin-Jun Liu PDF

By Xin-Jun Liu

Parallel Kinematics- sort, Kinematics, and optimum layout presents the result of 15 year's examine on parallel mechanisms and parallel kinematics machines. This booklet covers the systematic category of parallel mechanisms (PMs) in addition to offering a great number of mechanical architectures of PMs on hand to be used in sensible functions. It makes a speciality of the kinematic layout of parallel robots. One winning software of parallel mechanisms within the box of desktop instruments, that's often known as parallel kinematics machines, has been the rising development in complicated computing device instruments. The booklet describes not just the most facets and demanding themes in parallel kinematics, but additionally references novel strategies and techniques, i.e. sort synthesis according to evolution, functionality evaluate and optimization in line with screw idea, singularity version considering movement and strength transmissibility, and others.

This publication is meant for researchers, scientists, engineers and postgraduates or above with pursuits in robotics and complicated desktop instruments know-how reminiscent of parallel kinematics machines (PKMs).

Xinjun Liu and Jinsong Wang, professors, paintings on the Institute of producing Engineering, division of Precision tools and Mechanology, Tsinghua University.

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Extra resources for Parallel Kinematics: Type, Kinematics, and Optimal Design

Sample text

1 RRSR four-bar mechanism joint axis and remain in a specified plane; any point at the link describes a circle path centered at the point on the joint axis. If a link is linked to another by a prismatic joint, the loci of all the points at the link are straight lines that are parallel to one another. With a spherical joint, the link can rotate with respect to any line passing through the center of the joint. Let us first consider planar parallel mechanisms. Only a 1-DOF joint normally exists in a planar parallel mechanism.

1 DOF Analysis 33 Fig. 1 RRSR four-bar mechanism joint axis and remain in a specified plane; any point at the link describes a circle path centered at the point on the joint axis. If a link is linked to another by a prismatic joint, the loci of all the points at the link are straight lines that are parallel to one another. With a spherical joint, the link can rotate with respect to any line passing through the center of the joint. Let us first consider planar parallel mechanisms. Only a 1-DOF joint normally exists in a planar parallel mechanism.

However, many experiments indicate that such a mechanism is disadvantageous in the application of machine tools because of potential calibration difficulty and lower tilting angles. Since the end of the twentieth century, serialparallel machine tools have drawn considerable interest because these machines offer the advantages of both serial and parallel mechanisms. As a result, 2- and 3-DOF parallel mechanisms have been increasingly proposed and studied. Some have been used in industry, and the exploration of such mechanisms is foreseen to continue into the future.

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