Structural Synthesis of Parallel Robots: Part 1: Methodology

ISBN-13: 9789048172849 / Angielski / Miękka / 2010 / 706 str.

Grigore Gogu

Opis

This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. Part 1 presents the methodology proposed for structural synthesis. Part 2 presents the various topologies of parallel robots generated by this systematic approach. Many solutions are presented here for the first time. The book will contribute to a widespread implementation of these solutions in industrial products.

Recenzje

From the reviews:

"The book presents the synthesis methodology and solutions for parallel manipulators. ... The book gives the definitions of many terms in the area of mechanisms and robotics using the IFToMM terminology. The presented material summarizes research activities and some recent scientific advances in the structural synthesis of parallel robots. ... this book can be considered as a very useful learning tool for scientists and engineers from academia and industry." (Clementina Mladenova, Zentralblatt MATH, Vol. 1156, 2009)

Spis treści

Preface; Acknowledgements; List of abbreviations and notations; 1 Introduction; 1.1 Robot; 1.2 Robotics; 1.3 Parallel Robot; 1.4 Terminology ; 1.5 Structural synthesis; 1.6 The objectives and originality of this book ; 2 Structural parameters; 2.1 Critical review of mobility calculation ; 2.1.1 Chebychev’s contribution; 2.1.2 Sylvester’s contribution ; 2.1.3 Grübler’s contribution; 2.1.4 Somov’s contribution; 2.1.5 Hochman’s contribution; 2.1.6 Somov-Malytsheff’s formula ; 2.1.7 Koenigs’ formula; 2.1.8 Kutzbach’s mobility equation; 2.1.9 Dobrovolski’s mobility equation ; 2.1.10 Contribution of Y.F. Moroskine; 2.1.11 Contribution of R. Voinea and M. Atanasiu ; 2.1.12 Kolchin’s mobility equation; 2.1.13 Rössner’s contribution ; 2.1.14 Boden’s mobility equation; 2.1.15 Manafu’s formula ; 2.1.16 0zol’s formula; 2.1.17 Contribution of K. J. Waldron ; 2.1.18 Contribution of N. Manolescu ; 2.1.19 Contribution of C. Bagci; 2.1.20 Contribution of P. Antonescu ; 2.1.21 Contribution of F. Freudenstein and R. Alizade ; 2.1.22 Hunt’s contribution ; 2.1.23 Hervé’s contribution; 2.1.24 Gronowicz’s contribution ; 2.1.25 Baker’s contribution; 2.1.26 Davies’s contribution ; 2.1.27 Contribution of V.P. Agrawal and J.S. Rao ; 2.1.28 Contribution of J. Angeles and C. Gosselin ; 2.1.29 Contribution of F. Dudita and D. Diaconescu ; 2.1.30 Contribution of P. Fanghella and C. Galletti ; 2.1.31 Fayet’s contribution ; 2.1.32 Tsai’s formula; 2.1.33 McCarthy’s formula ; 2.1.34 Contribution of Z. Huang, L.F. Kong and Y.F. Fang ; 2.1.35 Contribution of J.M. Rico, J. Gallardo and B. Ravani ; 2.2 Chebychev-Grübler-Kutzbach’s mobility criteria ; 2.2.1 Initial Chebychev-Grübler-Kutzbach’s criterion ; 2.2.2 Extended Chebychev-Grübler-Kutzbach’s criterion ; 2.2.3 Applicability limitation of Chebychev-Grübler-Kutzbach’s criteria; 2.3 Mobility and connectivity of parallel robots ; 2.3.1 General definitions and formulae for mobility and connectivity of mechanisms ; 2.3.2 Mobility and connectivity of simple open kinematic chains ; 2.3.3 Mobility and connectivity of single-loop kinematic chains ; 2.3.4 Connectivity between two elements of a single-loop kinematic chain ; 2.3.5. Mobility and connectivity of parallel robots with simple limbs ; 2.3.6. Mobility and connectivity of parallel robots with complex limbs; 2.3.7. General formulae for robot mobility and connectivity ; 2.4 Overconstraints in parallel robots; 2.5 Redundancy in parallel robots ; 2.6 General formulae for structural parameters; 3 Structural analysis ; 3.1 Simple open kinematic chains; 3.2 Single-loop kinematic chains ; 3.3 Parallel mechanisms with simple limbs ; 3.4 Parallel mechanisms with complex limbs ; 3.5 Other multi-loop kinematic chains ; 4 Kinematic analysis; 4.1. Decoupling in axiomatic design ; 4.2. Geometric modeling; 4.3 Kinematic modeling ; 4.3.1 Direct and inverse kinematics matrices used in Jacobian calculation; 4.3.2 Design and conventional Jacobian matrices ; 4.4 Types of workspaces and singularities ; 4.4.1 Types of workspaces; 4.4.2 Types of singularities ; 4.5. Kinetostatic performance indexes; 4.5.1 Cross-coupling indexes ; 4.5.2 Indexes of input-output propensity ; 4.5.3 Kinetostatic indexes defined in connection with manipulability ellipsoids and polythops; 4.6 Design Jacobian and motion decoupling ; 4.6.1. Parallel robots with coupled motions ; 4.6.2. Parallel robots with decoupled motions ; 4.6.3. Parallel robots with uncoupled motions ; 4.6.4. Maximally regular parallel robots; 5 Structural synthesis ; 5.1 Structural synthesis: a systematic approach in mechanism design ; 5.2. Morphological and evolutionary approaches ; 5.2.1 Morphological approaches ; 5.2.2 Evolutionary algorithms; 5.3 Evolutionary morphology ; 5.3.1 Design objectives; 5.3.2 Constituent elements ; 5.3.3 Morphological operators; 5.3.4 Set of solutions ; 5.3.5 General structure of the evolutionary morphology ; 5.4 General approach of structural synthesis of parallel robots ; 5.4.1 General conditions for structural synthesis of parallel robots via theory of linear transformations ; 5.4.2 General approach of structural synthesis of parallel robots via evolutionary morphology; 6 Limbs with two degrees of connectivity; 6.1 Limbs with two translational motions ; 6.2 Limbs with two rotational motions ; 6.3 Limbs with one translational and one rotational motion ; 6.4 Other limbs with two degrees of connectivity ; 6.5 Redundant limbs with two degrees of connectivity ; 7 Limbs with three degrees of connectivity ; 7.1 Limbs with three translational motions; 7.2 Planar limbs with one rotational and two translational motions ; 7.3 Non planar limbs with one rotational and two translational motions ; 7.4 Limbs with one translational and two rotational motions ; 7.5 Limbs with three rotational motions ; 7.6 Other limbs with three degrees of connectivity; 7.7 Redundant limbs with three degrees of connectivity ; 8 Limbs with four degrees of connectivity ; 8.1 Limbs with Schönflies motion ; 8.2 Limbs with two translational and two rotational motions ; 8.3 Limbs with one translational and three rotational motions; 8.4 Other limbs with four degrees of connectivity ; 8.5 Redundant limbs with four degrees of connectivity; 9 Limbs with five degrees of connectivity ; 9.1 Limbs with two rotational and three translational motions; 9.2 Limbs with two translational and three rotational motions; 9.3 Other limbs with five degrees of connectivity; 9.4 Redundant limbs with five degrees of connectivity; 10 Limbs with six degrees of connectivity ; 10.1 Limbs with three translational and three rotational motions; 10.2 Redundant limbs with six degrees of connectivity; References; Index

Blurb

This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. . The originality of this work resides in combining the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a systematic approach of structural synthesis. This work is organized in two parts published in two distinct books. Part 1 presents the methodology proposed for structural synthesis and Part 2 the various topologies of parallel robots generated by this systematic approach. Many solutions are presented here for the first time in the literature. The author had to make a difficult and challenging choice between protecting these solutions through patents, and releasing them directly into the public domain. The second option was adopted by publishing them in various recent scientific publications and mainly in this book. In this way, the author hopes to contribute to a rapid and widespread implementation of these solutions in future industrial products.