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.
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ISBN | 9789811387548 |
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Sprache | eng |
Cover | B, Control, Robotics, Mechatronics, Theoretical and Applied Mechanics, Applications of Mathematics, Control, Robotics, Automation, Civil Engineering, engineering, Control engineering, Robotics, Mechatronics, Mechanics, Mechanics, Applied, Applied mathematics, Engineering mathematics, Electronic devices & materials, Mechanics of solids, Fester Einband |
Verlag | Springer Nature EN, Huazhong University of Science and Technology Press |
Jahr | 2019 |
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