Geometric Method for Type Synthesis of Parallel Manipulators |
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| Author:
| Li, Qinchuan
Hervé, Jacques M.
Ye, Wei |
| Series title: | Springer Tracts in Mechanical Engineering Ser. |
| ISBN: | 978-981-13-8757-9 |
| Publication Date: | Aug 2020 |
| Publisher: | Springer
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| Book Format: | Paperback |
| List Price: | USD $119.99USD $109.99 |
Book Description:
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This book focuses on the synthesis of lower-mobility parallel manipulators, presenting a group-theory-based method that has the advantage of being geometrically intrinsic. Rotations and translations of a rigid body as well as a combination of the two can be expressed and handled elegantly using the group algebraic structure of the set of rigid-body displacements. The book gathers the authors' research results, which were previously scattered in various journals and conference...
More DescriptionThis book focuses on the synthesis of lower-mobility parallel manipulators, presenting a group-theory-based method that has the advantage of being geometrically intrinsic. Rotations and translations of a rigid body as well as a combination of the two can be expressed and handled elegantly using the group algebraic structure of the set of rigid-body displacements. The book gathers the authors' research results, which were previously scattered in various journals and conference proceedings, presenting them in a unified form. Using the presented method, it reveals numerous novel architectures of lower-mobility parallel manipulators, which are of interest to those in the robotics community. More importantly, readers can use the method and tool to develop new types of lower-mobility parallel manipulators independently.