Overview
- Presents a new systematic theory for studying a mechanism’s topological structure
- Reveals an easy-to-implement method for the topological structure design of mechanisms
- Provides illustrative examples to guide readers through the entire design process
- Serves as a theoretical guide for researchers and a work manual for designers
- Includes supplementary material: sn.pub/extras
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About this book
This book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms.
The main original theoretical contributions of this book include:
A. Three basic concepts
· The “geometrical constraint type of axes” is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) and the fixed coordinate system (Chapter 2).
· The position and orientation characteristic (POC) set is used to describe the POC of the relative motion between any two links. The POC set, derived from the unit vector set of the velocity of a link, is only depend on the topological structure of a mechanism. Therefore, it is also independent of the motion positions and the fixed coordinate system (Chapter 3).
· The single open chain (SOC) unit is the base unit of the topological structure used to develop the four basic equations of the mechanism topology (Chapters 2, 4–6).
B. The mechanism composition principle based on the SOC units
This book proposes a mechanism composition principle, based on the SOC units, to establish a systematic theory for the unified modeling of the topology, kinematics, and dynamics of mechanisms based on the SOC units (Chapter 7).
C. Four basic equations• The POC equation of serial mechanisms with 10 symbolic operation rules (Chapter 4).
• The POC equation of parallel mechanisms with 14 symbolic operation rules (Chapter 5).
• The general DOF formula for spatial mechanisms (Chapter 6).• The coupling degree formula for the Assur kinematic chain (Chapter 7).
D. One systematic method for the topology design of robot mechanisms (Chapters 8–10)
Based on the three basic concepts and the four basic equations addressed above, this book puts forward a systematic method for the topology design of parallel mechanisms, which is fundamentally different from all existing methods. Its main characteristics are as follows:• The design process includes two stages: the first is structure synthesis, which derives many structure types; the second involves the performance analysis, classification and optimization of structure types derived from the first stage.
• The design operation is independent of the motion positions and the fixed coordinate system. Therefore, the proposed method is essentially a geometrical method, which ensures the full-cycle DOF and the generality of geometric conditions of mechanism existence.
• Each individual design step follows an explicit formula or the guidelines for design criteria, making the operation simple, feasible and reproducible. In addition, the topology design of the SCARA PMs is studied in detail to demonstrate the proposed method (Chapter 10).
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Table of contents (10 chapters)
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Front Matter
Authors and Affiliations
About the authors
Bibliographic Information
Book Title: Topology Design of Robot Mechanisms
Authors: Ting-Li Yang, Anxin Liu, Huiping Shen, LuBin Hang, Yufeng Luo, Qiong Jin
DOI: https://doi.org/10.1007/978-981-10-5532-4
Publisher: Springer Singapore
eBook Packages: Engineering, Engineering (R0)
Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2018
Hardcover ISBN: 978-981-10-5531-7Published: 30 January 2018
Softcover ISBN: 978-981-13-5418-2Published: 01 February 2019
eBook ISBN: 978-981-10-5532-4Published: 02 January 2018
Edition Number: 1
Number of Pages: XIX, 236
Number of Illustrations: 73 b/w illustrations
Topics: Machinery and Machine Elements, Artificial Intelligence, Robotics and Automation