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024 7 _a10.1007/978-981-10-5532-4
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050 4 _aTA213-215
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100 1 _aYang, Ting-Li.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_955798
245 1 0 _aTopology Design of Robot Mechanisms
_h[electronic resource] /
_cby Ting-Li Yang, Anxin Liu, Huiping Shen, LuBin Hang, Yufeng Luo, Qiong Jin.
250 _a1st ed. 2018.
264 1 _aSingapore :
_bSpringer Nature Singapore :
_bImprint: Springer,
_c2018.
300 _aXIX, 236 p. 73 illus.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
505 0 _aIntroduction -- Topological structure of mechanisms and mathematical representation -- Position and orientation characteristic of mechanisms and mathematical representation -- Topological structure equations of mechanisms -- General DOF formula of mechanisms -- Composition principle and topological structure characteristics of mechanisms -- General method for topological structure synthesis of mechanisms -- Topological structure design of 3-DOF parallel mechanisms -- Topological structure design of 4-DOF parallel mechanisms -- Topological structure design of 5-DOF parallel mechanisms -- Topological structure design of 6-DOF parallel mechanisms -- Conclusion.
520 _aThis book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms. The main original theoretical contributions of this book include: A. Three basic concepts · The “geometrical constraint type of axes” is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) and the fixed coordinate system (Chapter 2). · The position and orientation characteristic (POC) set is used to describe the POC of the relative motion between any two links. The POC set, derived from the unit vector set of the velocity of a link, is only depend on the topological structure of a mechanism. Therefore, it is also independent of the motion positions and the fixed coordinate system (Chapter 3). · The single open chain (SOC) unit is the base unit of the topological structure used to develop the four basic equations of the mechanism topology (Chapters 2, 4–6). B. The mechanism composition principle based on the SOC units This book proposes a mechanism composition principle, based on the SOC units, to establish a systematic theory for the unified modeling of the topology, kinematics, and dynamics of mechanisms based on the SOC units (Chapter 7). C. Four basic equations • The POC equation of serial mechanisms with 10 symbolic operation rules (Chapter 4). • The POC equation of parallel mechanisms with 14 symbolic operation rules (Chapter 5). • The general DOF formula for spatial mechanisms (Chapter 6). • The coupling degree formula for the Assur kinematic chain (Chapter 7). D. One systematic method for the topology design of robot mechanisms (Chapters 8–10) Based on the three basic concepts and the four basic equations addressed above, this book puts forward a systematic method for the topology design of parallel mechanisms, which is fundamentally different from all existing methods. Its main characteristics are as follows: • The design process includes two stages: the first is structure synthesis, which derives many structure types; the second involves the performance analysis, classification and optimization of structure types derived from the first stage. • The design operation is independent of the motion positions and the fixed coordinate system. Therefore, the proposed method is essentially a geometrical method, which ensures the full-cycle DOF and the generality of geometric conditions of mechanism existence. • Each individual design step follows an explicit formula or the guidelines for design criteria, making the operation simple, feasible and reproducible. In addition, the topology design of the SCARA PMs is studied in detail to demonstrate the proposed method (Chapter 10).
650 0 _aMachinery.
_931894
650 0 _aArtificial intelligence.
_93407
650 0 _aControl engineering.
_931970
650 0 _aRobotics.
_92393
650 0 _aAutomation.
_92392
650 1 4 _aMachinery and Machine Elements.
_931895
650 2 4 _aArtificial Intelligence.
_93407
650 2 4 _aControl, Robotics, Automation.
_931971
700 1 _aLiu, Anxin.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_955799
700 1 _aShen, Huiping.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_955800
700 1 _aHang, LuBin.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_955801
700 1 _aLuo, Yufeng.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_955802
700 1 _aJin, Qiong.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_955803
710 2 _aSpringerLink (Online service)
_955804
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
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776 0 8 _iPrinted edition:
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776 0 8 _iPrinted edition:
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856 4 0 _uhttps://doi.org/10.1007/978-981-10-5532-4
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