Gogu G. Structural Synthesis of Parallel Robots. Part 5: Basic Overconstrained Topologies with Schönflies Motions

Springer Science+Business Media, Dordrecht, 2014, 649 pages, ISBN: 978-94-007-7400-1This book represents the fifth part of a larger work dedicated to the Structural Synthesis of Parallel Robots.This book offers basic structural solutions of overconstrained parallel robotic manipulators with Schönflies motions of the moving platform systematically generated by using the structural synthesis approach proposed in Part 1.The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms.Parallel robotic manipulators can be considered a well-established option for many different applications of manipulation, machining, guiding, testing, control, tracking, haptic force feedback, etc. A typical parallel robotic manipulator consists of a mobile platform connected to the base (fixed platform) by at least two kinematic chains called limbs. The mobile platform can achieve between one and three independent translations (T) and one to three independent rotations (R).Terminology
Links, Joints and Kinematic Chains
Serial, Parallel and Hybrid Robots
Methodology of Structural Synthesis
New Formulae for Mobility, Connectivity, Redundancy and Overconstraint of Parallel Robots
Evolutionary Morphology Approach
Types of Parallel Robots with Respect to Motion Coupling
Parallel Robots with Schönflies Motions of the Moving PlatformFully-Parallel Topologies with Coupled Schönflies Motions
Topologies with Simple Limbs
Topologies with Complex LimbsOveractuated Topologies with Coupled Schönflies Motions
Topologies with Simple Limbs
Topologies with Complex LimbsFully-Parallel Topologies with Decoupled Schönflies Motions
Topologies with Simple Limbs
Topologies with Complex LimbsTopologies with Uncoupled Schönflies Motions
Fully-Parallel Topologies
Redundantly Actuated Topologies
Topologies with Simple Limbs
Topologies with Complex LimbsMaximally Regular Topologies with Schönflies Motions
Fully-Parallel Topologies with Simple Limbs
Fully-Parallel Topologies with Simple and Complex Limbs
Fully-Parallel Topologies with Complex Limbs