Structural Synthesis of Parallel Robots
Part 1: Methodology| By: | Grigore Gogu |
| Publisher: | Springer Nature |
| Print ISBN: | 9781402051029 |
| eText ISBN: | 9781402057106 |
| Edition: | 0 |
| Copyright: | 2008 |
| Format: | Page Fidelity |
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This is the first book of robotics presenting solutions of uncoupled and fully-isotropic PMs and a method for their structural synthesis. Non-redundant/redundant, overconstrained/isostatic solutions of uncoupled and fully-isotropic PMs with elementary/complex legs actuated by linear/rotary actuators with/without idle mobility and two to six DoFs are present in a systematic approach of structural synthesis. These solutions are derived from families of PMs with decoupled motions.