Li Q., Hervé J.M., Ye W. Geometric Method for Type Synthesis of Parallel Manipulators

Springer, 2020. — 242 p. — (Springer Tracts in Mechanical Engineering). — ISBN: 9811387540.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 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.Fundamental of Group Theory
Rotation and Displacements of Rigid Body
Lie Group Based Method for Type Synthesis of Parallel Mechanisms
Type Synthesis of 5-DOF 3R2T Parallel Mechanism
Type Synthesis of 4-DOF 2R2T Parallel Mechanisms
Type Synthesis of 4-DOF Parallel Mechanisms with Bifurcation of Schoenflies Motion
Type Synthesis of 3-DOF RPR-Equivalent Parallel Mechanisms
Type Synthesis of 3-DOF PU-Equivalent Parallel Mechanisms
Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators with Fixed Linear Actuators for Minimally Invasive Surgery
Type Synthesis of Non-overconstrained 3-DOF Translational Parallel Mechanisms with Less Structural Shakiness
Type Synthesis of Pan-Tilt Wrists with Uncoupled Actuation