By Grigore Gogu
This ebook represents the 3rd a part of a bigger paintings devoted to the structural synthesis of parallel robots. The originality of this paintings is living within the proven fact that it combines the recent formulae for mobility, connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified strategy of structural synthesis giving attention-grabbing leading edge strategies for parallel robot manipulators. this is often the 1st e-book of robotics offering ideas of coupled, decoupled, uncoupled, fully-isotropic and maximally common parallel robot manipulators with planar movement of the relocating platform systematically generated by utilizing the structural synthesis method proposed partly 1. Non-redundant/redundant, overconstrained/isostatic ideas with simple/complex limbs actuated through linear/rotary actuators with/without idle mobilities are proposed. Many strategies are awarded the following for the 1st time within the literature. the writer needed to make a tough and tough selection among holding those ideas via patents, and liberating them without delay into the general public area. the second one choice was once followed by way of publishing them in numerous contemporary clinical guides and typically during this e-book. during this approach, the writer hopes to give a contribution to a swift and common implementation of those suggestions in destiny business products.
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Additional info for Structural Synthesis of Parallel Robots: Part 3: Topologies with Planar Motion of the Moving Platform
Idem No. 1 3 4 5 6 2RRR-1RPP (Fig. 21b) 7 2RPR-1RPP (Fig. 21c) 8 2PPaR-1RPP (Fig. 22a) 9 2PaRR-1RPP (Fig. 22b) 10 2PaPaR-1RPP (Fig. 22c) 11 2PRR-1RPPa (Fig. 23a) Idem No. 1 Idem No. 1 Idem No. 1 Idem No. 1 Idem No. 1 Idem No. 1 Idem No. 1 Idem No. 1 Idem No. 3. ) 12 2RRR-1RPPa (Fig. 23b) 13 2RPR-1RPPa (Fig. 23c) 14 2PRR-1RPaP (Fig. 24a) 15 2RRR-1RPaP (Fig. 24b) 16 2RPR-1RPaP (Fig. 24c) 17 2PRR-1RPaPa (Fig. 25a) 18 2RRR-1RPaPa (Fig. 25b) 19 2RPR-1RPaPa (Fig. 25c) 20 2PPaR-1RPPa (Fig. 26a) 21 2PaRR-1RPPa (Fig.
The first solution has the advantage of reducing the moving masses and large workspace. The second solution would be more compact. 1 Basic solutions The basic solutions presented in this section are either fully-parallel and non fully-parallel solutions. There are no idle mobilities in the basic solutions. 1 Fully-parallel solutions In the fully-parallel solutions of PPMs with coupled motions F ← G1-G2-G3 presented in this section, the moving platform n nGi (i=1, 2, 3) is connected to the reference platform 1 1Gi 0 by three planar limbs with three G.
We have explained why this well-known formula does not work for some multi-loop mechanisms. New formulae for quick calculation of mobility have been proposed in (Gogu 2005d) and demonstrated via the theory of linear transformations. More details and a development of these contributions have been presented in Part 1. The connectivity between two links of a mechanism represents the number of independent finite and/or infinitesimal displacements allowed by the mechanism between the two links. 2 Methodology of structural synthesis 13 could lose their independence in the closed loops, and the number of joint kinematic parameters that actually lose their independence in the closed loops.