The method proposed in this book for structural synthesis of parallel mechanisms is founded on the theory of linear transformations and evolutionary morphology. The structural parameters defined via the theory of linear transformations in chapter 2 are integrated in an original approach to innovative design proposed in (Gogu 2005a, 2007a) and called evolutionary morphology. This method allows us to obtain the structural solutions of decoupled, uncoupled, fully-isotropic and maximally regular parallel robots in a systematic way. Overconstrained/isostatic solutions with elementary/ complex limbs actuated by linear/rotary actuators with/without idle mobilities could be obtained.
The first part of this chapter presents the general paradigms of structural synthesis and evolutionary morphology as structured approaches to inventive engineering design. In the second part, the general bases are set up in applying evolutionary morphology to structural synthesis of parallel robots with coupled, decoupled, uncoupled and maximally regular parallel robots.
KeywordsMigration Recombination Rotary Actuator Hunt Paral
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