Theory Of Parallel Mechanisms

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 validity was only proved recently, is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its latest developments are described. This principle is suitable for 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-singularity is 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, is introduced 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.

This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), a key issue in the creative design of a wide variety of innovative devices such as parallel manipulators, motion simulators, and haptic devices. Essential reading for researchers, developers, engineers and graduate students with interests in robotics, this book covers the classification of PMs as well as providing a large number of PMs ready to be used in practical applications.

This book addresses the design of compliant mechanisms, presenting readers with a good understanding of both the solid mechanics of flexible elements and their configuration design, based on a mechanism-equivalent approach in the framework of screw theory. The book begins with the theoretical background of screw theory, and systematically addresses both the compliance characteristics of flexible elements and their configuration design. The book then covers a broad range of compliant parallel mechanism design topics, from stiffness to constraint decomposition, from conceptual design to dimensional design, and from analysis to synthesis, as well as the large deformation problem; this is followed by both simulations and physical experiments, offering readers a solid foundation and useful tools. Given its scope and the results it presents, the book will certainly benefit and inform future research on the topic. It offers a valuable asset for researchers, developers, engineers and graduate students with an interest in compliant mechanisms, robotics and screw theory.

Parallel Kinematics- Type, Kinematics, and Optimal Design presents the results of 15 year's research on parallel mechanisms and parallel kinematics machines. This book covers the systematic classification of parallel mechanisms (PMs) as well as providing a large number of mechanical architectures of PMs available for use in practical applications. It focuses on the kinematic design of parallel robots. One successful application of parallel mechanisms in the field of machine tools, which is also called parallel kinematics machines, has been the emerging trend in advanced machine tools. The book describes not only the main aspects and important topics in parallel kinematics, but also references novel concepts and approaches, i.e. type synthesis based on evolution, performance evaluation and optimization based on screw theory, singularity model taking into account motion and force transmissibility, and others. This book is intended for researchers, scientists, engineers and postgraduates or above with interests in robotics and advanced machine tools technology such as parallel kinematics machines (PKMs). Xinjun Liu and Jinsong Wang, professors, work at The Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University.

This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy. ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.

This book addresses the design of compliant mechanisms, presenting readers with a good understanding of both the solid mechanics of flexible elements and their configuration design, based on a mechanism-equivalent approach in the framework of screw theory. The book begins with the theoretical background of screw theory, and systematically addresses both the compliance characteristics of flexible elements and their configuration design. The book then covers a broad range of compliant parallel mechanism design topics, from stiffness to constraint decomposition, from conceptual design to dimensional design, and from analysis to synthesis, as well as the large deformation problem; this is followed by both simulations and physical experiments, offering readers a solid foundation and useful tools. Given its scope and the results it presents, the book will certainly benefit and inform future research on the topic. It offers a valuable asset for researchers, developers, engineers and graduate students with an interest in compliant mechanisms, robotics and screw theory.

This book covers the state-of-the-art technologies in dynamic balancing of mechanisms with minimum increase of mass and inertia. The synthesis of parallel robots based on the Decomposition and Integration concept is also covered in detail. The latest advances are described, including different balancing principles, design of reactionless mechanisms with minimum increase of mass and inertia, and synthesizing parallel robots. This is an ideal book for mechanical engineering students and researchers who are interested in the dynamic balancing of mechanisms and synthesizing of parallel robots. This book also: · Broadens reader understanding of the synthesis of parallel robots based on the Decomposition and Integration concept · Reinforces basic principles with detailed coverage of different balancing principles, including input torque balancing mechanisms · Reviews exhaustively the key recent research into the design of reactionless mechanisms with minimum increase of mass and inertia, such as the design of reactionless mechanisms with auxiliary parallelograms, the design of reactionless mechanisms with flywheels, and the design of reactionless mechanisms by symmetrical structure design.

This book gathers the proceedings of the 15th IFToMM World Congress, which was held in Krakow, Poland, from June 30 to July 4, 2019. Having been organized every four years since 1965, the Congress represents the world’s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations.