Geometric Method for Type Synthesis of Parallel Manipulators

Download or read book Geometric Method for Type Synthesis of Parallel Manipulators written by Qinchuan Li and published by Springer. This book was released on 2019-07-03 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the synthesis of lower-mobility parallel manipulators, presenting a group-theory-based method that has the advantage of being geometrically intrinsic. Rotations and translations of a rigid body as well as a combination of the two can be expressed and handled elegantly using the group algebraic structure of the set of rigid-body displacements. The book gathers the authors’ research results, which were previously scattered in various journals and conference proceedings, presenting them in a unified form. Using the presented method, it reveals numerous novel architectures of lower-mobility parallel manipulators, which are of interest to those in the robotics community. More importantly, readers can use the method and tool to develop new types of lower-mobility parallel manipulators independently.