Theory of Parallel Mechanisms

  • Zhen Huang
  • Qinchuan Li
  • Huafeng Ding

Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 6)

Table of contents

  1. Front Matter
    Pages i-xiii
  2. Zhen Huang, Qinchuan Li, Huafeng Ding
    Pages 1-16
  3. Zhen Huang, Qinchuan Li, Huafeng Ding
    Pages 17-45
  4. Zhen Huang, Qinchuan Li, Huafeng Ding
    Pages 47-69
  5. Zhen Huang, Qinchuan Li, Huafeng Ding
    Pages 71-133
  6. Zhen Huang, Qinchuan Li, Huafeng Ding
    Pages 135-162
  7. Zhen Huang, Qinchuan Li, Huafeng Ding
    Pages 163-216
  8. Zhen Huang, Qinchuan Li, Huafeng Ding
    Pages 217-287
  9. Zhen Huang, Qinchuan Li, Huafeng Ding
    Pages 289-324
  10. Zhen Huang, Qinchuan Li, Huafeng Ding
    Pages 325-364
  11. Zhen Huang, Qinchuan Li, Huafeng Ding
    Pages 365-417
  12. Back Matter
    Pages 419-421

About this book

Introduction

This book contains mechanism analysis and synthesis.

In mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validity was only proved recently,  is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its latest developments are described. This principle is suitable for kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularity is stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented.

In mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, is introduced in detail. Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed.

Keywords

analysis kinematics mechanism analysis mechanism synthesis parallel manipulators parallel mechanisms robots screws

Authors and affiliations

  • Zhen Huang
    • 1
  • Qinchuan Li
    • 2
  • Huafeng Ding
    • 3
  1. 1.Corporation (CASC), China Academy of SpaceChina Aerospace Science & TechnologyBeijingChina, People's Republic
  2. 2., Mechatronic DepartmentZhejiang Sci-Tech UniversityHangzhouChina, People's Republic
  3. 3., Robotics Research CenterYanshan UniversityQinhuangdaoChina, People's Republic

Bibliographic information

  • DOI https://doi.org/10.1007/978-94-007-4201-7
  • Copyright Information Springer Science+Business Media Dordrecht 2013
  • Publisher Name Springer, Dordrecht
  • eBook Packages Engineering
  • Print ISBN 978-94-007-4200-0
  • Online ISBN 978-94-007-4201-7
  • Series Print ISSN 2211-0984
  • Series Online ISSN 2211-0992
  • About this book
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