By Grigore Gogu
This ebook represents the fourth a part of a bigger paintings devoted to the structural synthesis of parallel robots. half 1 (Gogu 2008a) provided the technique of structural synthesis and the systematisation of structural recommendations of easy and intricate limbs with to 6 levels of connectivity systematically generated through the structural synthesis procedure. half 2 (Gogu 2009a) awarded structural ideas of translational parallel robot manipulators with and 3 levels of mobility. half three (Gogu 2010a) focussed on structural options of parallel robot manipulators with planar movement of the relocating platform. This booklet bargains different topologies of parallel robot manipulators with and 3 levels of freedom systematically generated by utilizing the structural synthesis technique proposed partially 1.
The originality of this paintings is living within the indisputable 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 fascinating cutting edge options for parallel robot manipulators.
This is the 1st publication of robotics proposing a number of recommendations of coupled, decoupled, uncoupled, fully-isotropic and maximally usual parallel robot manipulators with and 3 levels of freedom systematically generated through the use of the structural synthesis process proposed partially 1. Non-redundant/redundant, overconstrained/isostatic options with simple/complex limbs actuated by way of linear/rotary actuators with/without idle mobilities are proposed. Many strategies are offered right here for the 1st time within the literature.
The writer needed to make a tough and tough selection among keeping those ideas via patents, and liberating them at once into the general public area. the second one choice used to be followed by way of publishing them in numerous fresh medical courses and regularly during this booklet. during this approach, the writer hopes to give a contribution to a speedy and frequent implementation of those ideas in destiny commercial products.