Theory of Parallel Mechanisms

ISBN-13: 9789401784801 / Angielski / Miękka / 2014 / 422 str.

Zhen Huang; Qinchuan Li; Huafeng Ding

Opis

This book contains mechanism analysis and synthesis.

In mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validitywas onlyproved recently, is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and itslatest developments are described. This principleis suitablefor kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularityis stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented.

In mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, isintroduced in detail. Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed.

O autorze

Dr. Zhen Huang promovierte bei Prof. Dr. Heymo Böhler am Lehrstuhl für BWL III der Universität Bayreuth im Rahmen des Doktorandenprogramms der Firma Roland Berger & Partner GmbH. Er ist als Projektmanager bei Roland Berger & Partner GmbH, München, tätig.