Advertisement

Introduction

  • Tao SunEmail author
  • Shuofei Yang
  • Binbin Lian
Chapter
  • 7 Downloads
Part of the Springer Tracts in Mechanical Engineering book series (STME)

Abstract

Robots are widely applied in many areas, including but not limited to, automobile engineering, aerospace engineering, port engineering, electronic industry, food industry, surgical operation, housekeeping service.

References

  1. 1.
    Mordechai BA, Francesco M (2018) Element of robotics. Springer, SwitzerlandzbMATHGoogle Scholar
  2. 2.
    Siciliano B, Khatib O (2008) Element of robotics. Springer, BerlinzbMATHGoogle Scholar
  3. 3.
    Angeles J (2007) Fundamentals of robotic mechanical systems. Springer, New YorkzbMATHCrossRefGoogle Scholar
  4. 4.
    Liu XJ, Wang JS (2014) Parallel mechanism: type, kinematics, and optimal design. Springer, BerlinCrossRefGoogle Scholar
  5. 5.
    Li QC, Hervé JM, Ye W (2020) Geometric method for type synthesis of parallel manipulators. Springer, SingaporezbMATHCrossRefGoogle Scholar
  6. 6.
    Merlet JP (2006) Parallel robots. Springer, NetherlandszbMATHGoogle Scholar
  7. 7.
    Asea Brown Boveri Ltd. https://new.abb.com. Accessed 22 Aug 2019
  8. 8.
    KUKA ROBOT. https://www.kuka.com. Accessed 22 Aug 2019
  9. 9.
    FANUC. https://www.fanuc.com. Accessed 22 Aug 2019
  10. 10.
    Farhang K, Zargar YS (1999) Design of spherical 4R mechanisms: function generation for the entire motion cycle. J Mech Des 121(4):521–528CrossRefGoogle Scholar
  11. 11.
    Wang B, Fang YF (2018) Structural constraint and motion mode analysis on parallel mechanism with bifurcated motion. J Xi’an Jiaotong Univ 52(6):62–68Google Scholar
  12. 12.
    Bennett Geoffrey T (1903) A new mechanism. Engineering 76(1903):777Google Scholar
  13. 13.
    Liu SY, Chen Y (2009) Myard linkage and its mobile assemblies. Mech Mach Theory 44(10):1950–1963zbMATHCrossRefGoogle Scholar
  14. 14.
    Chen Y, You Z (2007) Spatial 6R linkages based on the combination of two Goldberg 5R linkages. Mech Mach Theory 42(11):1484–1498zbMATHCrossRefGoogle Scholar
  15. 15.
    Kong X, Gosselin CM (2007) Type synthesis of parallel mechanisms. Springer, HeidelbergzbMATHGoogle Scholar
  16. 16.
    Ding WH, Deng H, Li QM et al (2014) Control-orientated dynamic modeling of forging manipulators with multi-closed kinematic chains. Robot Comput Integr Manuf 30(5):421–431CrossRefGoogle Scholar
  17. 17.
    You Z, Chen Y (2012) Motion structures: deployable structural assemblies of mechanisms. Spon, LondonGoogle Scholar
  18. 18.
    Chen Y, You Z (2008) An extended Myard linkage and its derived 6R linkage. J Mech Des 130(5):052301 (8 pages)Google Scholar
  19. 19.
    Gough VE, Whitehall SG (1962) Universal type testing machine. In: Proceedings of the 9th international automobile technical congress, vol 1962. London, pp 117–137Google Scholar
  20. 20.
    Sprint Z3 Head. https://www.ctemag.com. Accessed 22 Aug 2019
  21. 21.
    Hunt KH (1983) Structural kinematics of in-parallel-actuated robot-arms. J Mech Trans Autom Des 105(4):705–712CrossRefGoogle Scholar
  22. 22.
    CHNROBOT. http://www.chnrobot.com. Accessed 22 Aug 2019
  23. 23.
    EXECHON. http://www.exechon.com. Accessed 22 Aug 2019
  24. 24.
    Neumann KE (2002) Tricept application. In: 3rd chemnitz parallel kinematics seminar, vol 2002. Zwickau, pp 547–551Google Scholar
  25. 25.
    Tricept. http://www.pkmtricept.com. Accessed 22 Aug 2019
  26. 26.
    Omni-Wrist VI. http://www.anthrobot.com. Accessed 22 Aug 2019
  27. 27.
    Lu Y, Dai ZH, Wang P (2018) Full forward kinematics of redundant kinematic hybrid. Appl Math Model 62:134–144MathSciNetCrossRefGoogle Scholar
  28. 28.
    Hu B (2014) Complete kinematics of a serial-parallel manipulator formed by two Tricept parallel manipulators connected in serials. Nonlinear Dyn 78:2685–2698zbMATHCrossRefGoogle Scholar
  29. 29.
    McCarthy JM, Gim SS (2011) Geometric design of linkages. Springer, New YorkzbMATHCrossRefGoogle Scholar
  30. 30.
    Zhang D (2010) Parallel robotic machine tools. Springer, New YorkCrossRefGoogle Scholar
  31. 31.
    Ball RS (1875) The theory of screws: a geometrical study of kinematics, equilibrium and small oscillations of a rigid body. Trans R Irish Acad 25:157–218Google Scholar
  32. 32.
    Hunt KH (1978) Kinematic geometry of mechanisms. Oxford University Press, USAzbMATHGoogle Scholar
  33. 33.
    Angeles J (2012) Spatial kinematic chains: analysis-synthesis-optimization. Springer Science & Business Media, HeidelbergzbMATHGoogle Scholar
  34. 34.
    Tsai LW, Roth B (1972) Design of dyads with helical, cylindrical, spherical, revolute and prismatic joints. Mech Mach Theory 7(1):85–102CrossRefGoogle Scholar
  35. 35.
    Crane C, Rico J, Duffy J (2009) Screw theory and its application to spatial robot manipulators. Center for Intelligent Machines and Robotics, University of Florida, Gainesville, FL, Technical ReportGoogle Scholar
  36. 36.
    Angeles J (2007) Fundamentals of robotic mechanical systems: theory, methods and algorithms, 3rd edn. Springer, New YorkzbMATHCrossRefGoogle Scholar
  37. 37.
    Martínez JMR, Duffy J (1993) The principle of transference: history, statement and proof. Mech Mach Theory 28:165–177CrossRefGoogle Scholar
  38. 38.
    Dai JS, Jones JR (2001) Interrelationship between screw systems and corresponding reciprocal systems and applications. Mech Mach Theory 36(5):633–651MathSciNetzbMATHCrossRefGoogle Scholar
  39. 39.
    Lu WJ, Zhang LJ, Xie P et al (2017) Review on the mobility development history with the understanding of overconstraints. J Mech Eng 53(15):81–92CrossRefGoogle Scholar
  40. 40.
    Leal ER, Dai JS, Pennock G (2013) Screw-system-based mobility analysis of a family of fully translational parallel manipulators. Math Probl Eng 3:1–9MathSciNetGoogle Scholar
  41. 41.
    Huang Z, Li QC (2002) General methodology for type synthesis of symmetrical lower-mobility parallel manipulators and several novel manipulators. Int J Robot Res 21(2):131–145CrossRefGoogle Scholar
  42. 42.
    Huang Z, Li QC (2003) Type synthesis of symmetrical lower-mobility parallel mechanisms using the constraint-synthesis method. Int J Robot Res 22:59–79Google Scholar
  43. 43.
    Fang YF, Tsai LW (2002) Structure synthesis of a class of 4-DoF and 5-DoF parallel manipulators with identical limb structures. Int J Robot Res 21(9):799–810CrossRefGoogle Scholar
  44. 44.
    Fang YF, Tsai LW (2004) Structure synthesis of a class of 3-DoF rotational parallel manipulators. IEEE Trans Robot Autom 20(1):117–121CrossRefGoogle Scholar
  45. 45.
    Kong XW, Gosselin CM (2004) Type synthesis of 3-DoF translational parallel manipulators based on screw theory. ASME J Mech Des 126(1):83–92CrossRefGoogle Scholar
  46. 46.
    Kong XW, Gosselin CM (2006) Type synthesis of 4-DoF SP-equivalent parallel manipulators: a virtual chain approach. Mech Mach Theory 41(11):1306–1319zbMATHCrossRefGoogle Scholar
  47. 47.
    Song YM, Gao H, Sun T et al (2014) Kinematic analysis and optimal design of a novel 1T3R parallel manipulator with an articulated travelling plate. Robot Comput Integr Manuf 30(5):508–551CrossRefGoogle Scholar
  48. 48.
    Song YM, Lian BB, Sun T et al (2014) A novel five-degree-of-freedom parallel manipulator and its kinematic optimization. ASME Trans J Mech Robot 6(4):410081–410089Google Scholar
  49. 49.
    Lian BB, Sun T, Song YM (2017) Stiffness modeling, analysis and evaluation of a 5 degree of freedom hybrid manipulator for friction stir welding. Proc Inst Mech Eng Part C J Mech Eng Sci 231(23):4441–4456CrossRefGoogle Scholar
  50. 50.
    Lian BB, Sun T, Song YM (2016) Stiffness analysis of a 2-DoF over-constrained RPM with an articulated traveling platform. Mech Mach Theory 96:165–178CrossRefGoogle Scholar
  51. 51.
    Lian BB, Sun T, Song YM (2015) Stiffness analysis and experiment of a novel 5-DoF parallel kinematic machine considering gravitational effects. Int J Mach Tools Manuf 95:82–96CrossRefGoogle Scholar
  52. 52.
    Sun T (2012) Performance evaluation index framework of lower mobility parallel manipulators. Dissertation, Tianjin UniversityGoogle Scholar
  53. 53.
    Lian BB (2017) Methodology of multi-objective optimization for a five degree-of-freedom parallel manipulator. Dissertation, Tianjin UniversityGoogle Scholar
  54. 54.
    Dimentberg FM (1965) The screw calculus and its applications in mechanics. Izdat, Mauda MoscowGoogle Scholar
  55. 55.
    Dai JS (2015) Historical relation between mechanisms and screw theory and the development of finite displacement screws. J Mech Eng 51(13):13–26CrossRefGoogle Scholar
  56. 56.
    Parkin IA (1992) A third conformation with the screw systems: finite twist displacements of a directed line and point. Mech Mach Theory 27(2):177–188CrossRefGoogle Scholar
  57. 57.
    Hunt KH, Parkin IA (1995) Finite displacement of points, planes and lines via screw theory. Mech Mach Theory 30(2):177–192CrossRefGoogle Scholar
  58. 58.
    Huang CT, Chen CM (1995) The linear representation of the screw triangle-a unification of finite and infinitesimal kinematics. ASME J Mech Des 117(4):554–560CrossRefGoogle Scholar
  59. 59.
    Sun T, Yang SF, Huang T et al (2017) A way of relating instantaneous and finite screws based on the screw triangle product. Mech Mach Theory 108:75–82CrossRefGoogle Scholar
  60. 60.
    Yang SF, Sun T, Huang T et al (2016) A finite screw approach to type synthesis of three-DOF translational parallel mechanisms. Mech Mach Theory 104:405–419CrossRefGoogle Scholar
  61. 61.
    Sun T, Huo XM (2018) Type synthesis of 1T2R parallel mechanisms with parasitic motions. Mech Mach Theory 128:412–428CrossRefGoogle Scholar
  62. 62.
    Yang SF (2017) Type synthesis of parallel mechanisms based upon finite screw theory. Dissertation, Tianjin UniversityGoogle Scholar
  63. 63.
    Dai JS (2006) An historical review of the theoretical development of rigid body displacements from Rodrigues parameters to the finite twist. Mech Mach Theory 41(1):41–52MathSciNetzbMATHCrossRefGoogle Scholar
  64. 64.
    Dai JS, Holland N, Kerr DR (1995) Finite twist mapping and its application to planar serial manipulators with revolute joints. Proc Inst Mech Eng Part C J Mech Eng Sci 209(4):263–271CrossRefGoogle Scholar
  65. 65.
    Huang CT, Roth B (1994) Analytic expressions for the finite screw systems. Mech Mach Theory 29(2):207–222CrossRefGoogle Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.School of Mechanical EngineeringTianjin UniversityTianjinChina

Personalised recommendations