By Grigore Gogu
This ebook represents the second one a part of a bigger paintings devoted to the structural synthesis of parallel robots.
The originality of this paintings is living within the incontrovertible fact that it combines new formulae for mobility connectivity, redundancy and overconstraint, and the evolutionary morphology in a unified process of structural synthesis giving attention-grabbing cutting edge strategies for parallel robot manipulators. this can be the 1st ebook of robotics providing ideas of coupled, decoupled, uncoupled, fully-isotropic and maximally average translational parallel robot manipulators systematically generated by utilizing the structural synthesis technique proposed partially 1. Non-redundant/redundant, overconstrained/isostatic ideas with simple/complex limbs actuated by means of linear/rotary actuators with/without idle mobilities are proposed. Many suggestions are provided right here for the 1st time within the literature.
The writer needed to make a tough and not easy selection among maintaining those suggestions via patents, and freeing them at once into the general public area. the second one choice was once followed via publishing them in quite a few contemporary medical guides and quite often during this booklet. during this means, the writer hopes to give a contribution to a fast and frequent implementation of those recommendations in destiny commercial products.
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Extra resources for Structural Synthesis of Parallel Robots: Part 2: Translational Topologies with Two and Three Degrees of Freedom
17 No. Structural Solution parameter PPaPaPa Fig. 16 1 m 10 2 p1 5 3 p2 8 4 p 13 5 q 4 6 k1 0 7 k2 2 8 k 2 9 (RG1) ( vx , v y ) PPaP*PaPaS* Fig. 17a 12 6 9 15 4 0 2 2 ( vx , v y , vz ) PPa*Pa*Pa* Fig. 17b 10 5 8 13 4 0 2 2 ( vx , v y ) PPa*C*Pa*Pa*R* Fig. 1 for the nomenclature of structural parameters A wide range of overconstrained solutions with coupled motions and linear and rotating actuators integrated in two complex limbs with parallelogram loops can be derived from the solution in Fig. 16.
For example, the solution in Fig. 13 is obtained by replacing G2-limb in Fig. 11 by a planar kinematic chain RRR-type (Rz||Rz||Rz). 17) give the following structural parameters for the parallel mechanisms in Fig. 5). Overconstrained solutions with 0 < NF < 9 can be derived from the solution in Fig. 13 by introducing up to three idle mobilities in each parallelogram loop and up to three idle mobilities outside the parallelogram loops. The idle mobilities integrated inside and outside the parallelogram loops could be two orthogonal rotations and one translation perpendicular to the motion plane of the moving platform.
The solution in Fig. 15b has two overconstraints. 3). Solutions with linear and rotating actuators The basic solution with linear and rotating actuators and coupled motions F m G1–G2 has a moving platform n Ł nGi connected to a reference link 1 Ł 1Gi Ł 0 by two limbs of types P A Pa and Pa||Pa. This solution is denoted by PPa-PaPa and has one linear and one rotating actuator situated on the fixed base. The linear actuator may have any direction parallel to the plane of motion of the moving platform.