Structural Synthesis of Parallel Robots: Part 4: Other Topologies with Two and Three Degrees of Freedom (Hardcover, 2012)

Preface.- ?Acknowledgements.- ?List of abbreviations and notations.- ?1 Introduction.- ?1.1 Terminology.- ?1.1 Links, joints and kinematic chains.- ?1.2 Serial, parallel and hybrid robots.- ?1.2 Methodology of structural synthesis.- ?1.2.1 New formulae for mobility, connectivity, redundancy and overconstraint of parallel robots.- ?1.2.2 Evolutionary morphology approach.- ?1.2.3 Types of parallel robots with respect to motion coupling.- ?2 Parallel mechanisms with cylindrical motion of the moving platform.- ?2.1 T1R1-type parallel mechanisms with coupled cylindrical motion.- ?2.1.1 Overconstrained solutions.- ?2.1.2 Non overconstrained solutions.- ?2.2 T1R1-type parallel mechanisms with decoupled cylindrical ?motion.- ?2.2.1 Overconstrained solutions.- ?2.2.2 Non overconstrained solutions.- ?2.3 T1R1-type parallel mechanisms with uncoupled cylindrical motion.- ?2.3.1 Overconstrained solutions.- ?2.3.2 Non overconstrained solutions.- ?2.4 Maximally regular parallel mechanisms with cylindrical motion.- ?2.4.1 Overconstrained solutions.- ?2.4.2 Non overconstrained solutions.- ?3 Other T1R1-type parallel mechanisms.- ?3.1 T1R1-type parallel mechanisms with coupled motions.- ?3.1.1 Overconstrained solutions.- ??3.1.2 Non overconstrained solutions.- ?3.2 T1R1-type parallel mechanisms with decoupled motions.- ?3.2.1 Overconstrained solutions.- ?3.2.2 Non overconstrained solutions.- ?3.3 T1R1-type parallel mechanisms with uncoupled motions.- ?3.3.1 Overconstrained solutions.- ?3.3.2 Non overconstrained solutions.- ?3.4 Maximally regular T1R1-type parallel mechanisms.- ?3.4.1 Overconstrained solutions.- ?3.4.2 Non overconstrained solutions.- ?4 Parallel wrists with two degrees of freedom.- ?4.1 R2-type parallel wrists with coupled motions.- ?4.1.1 Overconstrained solutions.- ?4.1.2 Non overconstrained solutions.- ?4.2 R2-type parallel wrists with decoupled motions.- ?4.2.1 Overconstrained solutions.- ?4.2.2 Non overconstrained solutions.- ?4.3 R2-type parallel wrists with uncoupled motions.- ?4.3.1 Overconstrained solutions.- ?4.3.2 Non overconstrained solutions.- ?4.4 Maximally regular R2-type parallel wrists.- ?4.4.1 Overconstrained solutions.- ?4.4.2 Non overconstrained solutions.- ?5 T2R1-type overconstrained spatial parallel manipulators.- ?5.1 Overconstrained solutions with coupled motions.- ?5.1.1 Fully-parallel solutions.- ?5.1.2 Non fully-parallel solutions.- ?5.2 Overconstrained solutions with decoupled motions.- ?5.2.1 Fully-parallel solutions.- ?5.2.2 Non fully-parallel solutions.- ?5.3 Overconstrained solutions with uncoupled motions.- ?5.3.1 Fully-parallel solutions.- ?5.3.2 Non fully-parallel solutions.- ?5.4 Overconstrained maximally regular solutions.- ?5.4.1 Fully-parallel solutions.- ?5.4.2 Non fully-parallel solutions.- ?6 Non overconstrained T2R1-type spatial parallel manipulators.- ?6.1 Non overconstrained solutions with coupled motions.- ?6.1.1 Fully-parallel solutions.- ?6.1.2 Non fully-parallel solutions.- ?6.2 Non overconstrained solutions with decoupled motions.- ?6.2.1 Fully-parallel solutions.- ?6.2.2 Non fully-parallel solutions.- ?6.3 Non overconstrained solutions with uncoupled motions.- ?6.3.1 Fully-parallel solutions.- ?6.3.2 Non fully-parallel solutions.- ?6.4 Non overconstrained maximally regular solutions.- ?6.4.1 Fully-parallel solutions.- ?6.4.2 Non fully-parallel solutions.- ?7 T1R2-type spatial parallel manipulators.- ?7.1 T1R2-type spatial parallel manipulators with coupled motions.- ?7.1.1 Overconstrained solutions.- ?7.1.2 Non overconstrained solutions.- ?7.2 T1R2-type spatial parallel manipulators with decoupled motions.- ?7.2.1 Overconstrained solutions.- ?7.2.2 Non overconstrained solutions.- ?7.3 T1R2-type spatial parallel manipulators with uncoupled motions.- ?7.3.1 Overconstrained solutions.- ?7.3.2 Non overconstrained solutions.- ?7.4 Maximally regular T1R2-type spatial parallel manipulators.- ?7.4.1 Overconstrained solutions.- ?7.4.2 Non overconstrained solutions.- ?8 Parallel wrists with three degrees of freedom.- ?8.1 Parallel wrists with coupled motions.- ?8.1.1 Overconstrained solutions.- ?8.1.2 Non overconstrained solutions.- ?8.2 Parallel wrists with decoupled motions.- ?8.2.1 Overconstrained solutions.- ?8.2.2 Non overconstrained solutions.- ?8.3 Parallel wrists with uncoupled motions.- ?8.3.1 Overconstrained solutions.- ?8.3.2 Non overconstrained solutions.- ?8.4 Maximally regular parallel wrists.- ?8.4.1 Overconstrained solutions.- ?8.4.2 Non overconstrained solutions.- ?9 Parallel mechanisms with dependent motions of the moving ?platform.- ?9.1 Solutions with two degrees of freedom.- ?9.1.1 Overconstrained solutions.- ?9.1.2 Non overconstrained solutions.- ?9.2 Solutions with three degrees of freedom.- ?9.1.1 Overconstrained solutions.- ?9.1.2 Non overconstrained solutions.- ?References.- ?Index.