Geometric Method for Type Synthesis of Parallel Manipulators / by Qinchuan Li, Jacques M. Hervé, Wei Ye.
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...
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| Main Authors: | , |
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| Other Authors: | |
| Format: | Ebook |
| Language: | English |
| Published: |
Singapore :
Springer,
2020.
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| Series: | Springer tracts in mechanical engineering.
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| Subjects: | |
| Online Access: | Springer eBooks |
| Summary: | 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. |
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| Physical Description: | 1 online resource (xiii, 238 pages) : illustrations (some colour). |
| ISBN: | 9789811387548 9789811387555 9811387540 9811387559 |