By Grigore Gogu
ISBN-10: 9400726740
ISBN-13: 9789400726741
ISBN-10: 9400726759
ISBN-13: 9789400726758
This ebook represents the fourth a part of a bigger paintings devoted to the structural synthesis of parallel robots. half 1 (Gogu 2008a) awarded the method of structural synthesis and the systematisation of structural suggestions of straightforward and complicated limbs with to 6 levels of connectivity systematically generated through the structural synthesis process. half 2 (Gogu 2009a) provided structural strategies of translational parallel robot manipulators with and 3 levels of mobility. half three (Gogu 2010a) focussed on structural ideas of parallel robot manipulators with planar movement of the relocating platform. This ebook deals different topologies of parallel robot manipulators with and 3 levels of freedom systematically generated through the use of the structural synthesis method proposed partially 1.
The originality of this paintings is living within the proven fact that it combines the recent formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified technique of structural synthesis giving fascinating leading edge strategies for parallel robot manipulators.
This is the 1st publication of robotics featuring a number of suggestions of coupled, decoupled, uncoupled, fully-isotropic and maximally commonplace parallel robot manipulators with and 3 levels of freedom systematically generated by utilizing the structural synthesis technique proposed partially 1. Non-redundant/redundant, overconstrained/isostatic ideas with simple/complex limbs actuated through linear/rotary actuators with/without idle mobilities are proposed. Many recommendations are provided right here for the 1st time within the literature.
The writer needed to make a tough and hard selection among retaining those options via patents, and freeing them without delay into the general public area. the second one alternative was once followed by way of publishing them in quite a few contemporary clinical guides and typically during this publication. during this means, the writer hopes to give a contribution to a quick and common implementation of those ideas in destiny business products.
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Extra resources for Structural Synthesis of Parallel Robots: Part 4: Other Topologies with Two and Three Degrees of Freedom
Sample text
The structural parameters of the solutions in Fig. 7. 2 T1R1-type parallel mechanisms with decoupled cylindrical motion 41 Fig. 8. 6. Structural parametersa of the parallel mechanisms in Fig. 8 No. Structural parameter 1 2 3 4 5 6 7 8 9 10 m p1 p2 p q k1 k2 k (RG1) (RG2) 11 12 13 14 15 16 17 18 19 20 21 22 23 24 SG1 SG2 rG1 rG2 MG1 MG2 (RF) SF rl rF MF NF TF 25 26 a ∑ ∑ ∑ p1 j =1 p2 j =1 p j =1 Solution PR-PUS (Fig. 8a) PR-UPS (Fig. 8b) 6 2 4 6 1 2 0 2 ( v1 , ωα ) ( v1 , v2 , v3 , ωα , ωβ , ωδ ) PR-PSS (Fig.
Non overconstrained solutions with linear and rotating ac- tuators are presented in this section. Solutions with linear actuators The simplest non overconstrained solutions of type F ← G1-G2 with decoupled cylindrical motion can be generated by connecting the fixed and the mobile platforms by two simple limbs with linear actuators. The two limbs form one independent loop and the parallel mechanism fulfils the conditions: SF=2 and (RF)=(RG1 ∩ RG2)=( v1 ,ωα ). For this case, Eq. 16) gives ∑ p 1 f i = 8 .
These operators are deterministic and are applied at each generation of EM. At least MF=SF generations are necessary to evolve by successive combinations from the first generation of protoelements to a first solution satisfying the set of design objectives. Morphological migration could introduce new constituent elements formed by new joints or combinations of joints into the evolutionary process. 18 1 Introduction Evolutionary morphology is a complementary method with respect to evolutionary algorithms that starts from a given initial population to obtain an optimum solution with respect to a fitness function.
Structural Synthesis of Parallel Robots: Part 4: Other Topologies with Two and Three Degrees of Freedom by Grigore Gogu
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