Structural Synthesis of Parallel Robots Part 3: Topologies with Plan
This book represents the third part of a larger work dedicated to the structural synthesis of parallel robots. The originality of this work resides in the fact that it combines the new formulae for mobility, connectivity, redundancy and overconstraints, a
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SOLID MECHANICS AND ITS APPLICATIONS Volume 173
Series Editor:
G.M.L. GLADWELL Department of Civil Engineering University of Waterloo Waterloo, Ontario, Canada N2L 3GI
Aims and Scope of the Series The fundamental questions arising in mechanics are: Why?, How?, and How much? The aim of this series is to provide lucid accounts written by authoritative researchers giving vision and insight in answering these questions on the subject of mechanics as it relates to solids. The scope of the series covers the entire spectrum of solid mechanics. Thus it includes the foundation of mechanics; variational formulations; computational mechanics; statics, kinematics and dynamics of rigid and elastic bodies: vibrations of solids and structures; dynamical systems and chaos; the theories of elasticity, plasticity and viscoelasticity; composite materials; rods, beams, shells and membranes; structural control and stability; soils, rocks and geomechanics; fracture; tribology; experimental mechanics; biomechanics and machine design. The median level of presentation is the first year graduate student. Some texts are monographs defining the current state of the field; others are accessible to final year undergraduates; but essentially the emphasis is on readability and clarity.
For other titles published in this series, go to www.springer.com/series/6557
Grigore Gogu
Structural Synthesis of Parallel Robots Part 3: Topologies with planar motion of the moving platform
Grigore Gogu Clermont University IFMA, EA 3867, Mechanical Engineering Research Group F-63000 Clermont-Ferrand, France [email protected]
ISSN 0925-0042 ISBN 978-90-481-9830-6 e-ISBN 978-90-481-9831-3 DOI 10.1007/978-90-481-9831-3 Springer Dordrecht Heidelberg London New York Library of Congress Control Number: 2010935808 © Springer Science+Business Media B.V. 2010 No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Cover Design: SPI Publisher Services Printed on acid-free paper
Springer is part of Springer Science+Business Media (www.springer.com)
Contents
Preface.................................................................................................... VII Acknowledgements ............................................................................XIII List of abbreviations and notations ................................................... XIV 1 Introduction ............................................................................................ 1 1.1 Terminology..................................................................................... 1 1.1.1 Links, joints and kinematic chains ............................................ 2 1.1.2 Serial, parallel and hybrid robots ....................
