By Grigore Gogu
This e-book represents the fourth a part of a bigger paintings devoted to the structural synthesis of parallel robots. half 1 (Gogu 2008a) offered the method of structural synthesis and the systematisation of structural recommendations of straightforward and complicated limbs with to 6 levels of connectivity systematically generated through the structural synthesis process. half 2 (Gogu 2009a) offered structural recommendations 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 through the use of the structural synthesis method proposed partly 1.
The originality of this paintings is living within the indisputable fact that it combines the hot formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified process of structural synthesis giving fascinating cutting edge suggestions for parallel robot manipulators.
This is the 1st booklet of robotics featuring quite a few suggestions of coupled, decoupled, uncoupled, fully-isotropic and maximally common parallel robot manipulators with and 3 levels of freedom systematically generated by utilizing the structural synthesis process proposed partly 1. Non-redundant/redundant, overconstrained/isostatic strategies with simple/complex limbs actuated via linear/rotary actuators with/without idle mobilities are proposed. Many strategies are offered the following for the 1st time within the literature.
The writer needed to make a tricky and difficult selection among maintaining those suggestions via patents, and liberating them without delay into the general public area. the second one alternative was once followed via publishing them in a variety of contemporary medical courses and in general during this ebook. during this manner, the writer hopes to give a contribution to a quick and common implementation of those strategies in destiny commercial products.
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Extra resources for Structural Synthesis of Parallel Robots: Part 4: Other Topologies with Two and Three Degrees of Freedom
It is the point with the most restrictive motions of the moving platform. The connectivity SF of the moving platform n≡nGi in the mechanism F ← G1-G2-…-Gk is less than or equal to the mobility MF of mechanism F. The basis of the vector space RF of relative velocities between the moving and reference platforms in the mechanism F ← G1-G2-…-Gk must be valid for any point of the moving platform n≡nGi. Note 2. The bases of vector spaces RGj and RF may contain up to 6 independent velocity vectors vx, vy, vz, ωα, ωβ and ωδ.
The structural parameters of the solutions in Fig. 6. Solutions of non overconstrained T1R1-type parallel mechanism F ← G1G2 with decoupled cylindrical motion and linear actuators can also be obtained by using a G1-limb of type P R and G2-limb of types P ⊥ PassS (Fig. 9a) or P ⊥ R ⊥ PacsS (Fig. 9b). We recall that two idle mobilities are combined in a parallelogram loop Pass-type and three idle mobilities in a parallelogram loop Pacs-type. The structural parameters of the solutions in Fig. 7. 2 T1R1-type parallel mechanisms with decoupled cylindrical motion 41 Fig.
One of the most important activities in the invention and the design of parallel robots is to propose the most suitable solutions to increase the performance characteristics. The challenging and difficult objective of structural synthesis is to find a method to set up the entire set of mechanical architecture to meet the required structural parameters. The mechanical architecture or topology is defined by number, type and relative position of joint axes in the parallel robot. The structural parameters are mobility, connectivity, redundancy and the number of overconstraints.
Structural Synthesis of Parallel Robots: Part 4: Other Topologies with Two and Three Degrees of Freedom by Grigore Gogu