并联机构构型综合的几何方法 李秦川,(法)雅克·玛利·埃尔维(Jacques M.Herve),叶伟 著 大中专 文轩网

1 Introduction
1.1 History and Application of Parallel Mechanisms
1.2 Type Synthesis of Parallel Mechanisms
1.2.1 The Motion-Based Methods
1.2.2 Constraint-Based Methods
1.2.3 Other Methods
1.3 Objective and Organization of This Book
References
2 Fundamental of Group Theory
2.1 History
2.2 Group and Subgroup
2.3 Lie Group
2.4 Geometry in Nonrelativistic Mechanics
2.4.1 The Projective Space and Group
2.4.2 Affine Space and Group
2.4.3 Euclidean Affine Space and Group
3 Rotation and Displacements of Rigid Body
3.1 Vector Products and Algebra
3.2 Rotation of Vectors
3.3 Operator of Displacement
3.4 Axis of a Finite Screw Motion
3.5 Lie Subalgebras
3.6 The Displacement Lie Subgroups
4 Lie Group Based Method for Type Synthesis of Parallel Mechanisms
4.1 Kinematic Pairs and Chains
4.2 Composition of Kinematic Bonds
4.3 Displacement Subgroup of Primitive Mechanical Generators
4.4 Intersection of Kinematic Bonds
4.5 Procedures of Type Synthesis
4.6 Summary
5 Type Synthesis of 5-DOF 3R2T Parallel Mechanism
5.1 Kinematic Bond Between the Base and the Moving Platform
5.2 Limb Kinematic Bonds
5.3 Mechanical Generators of Limb Kinematic Bonds
5.3.1 Mechanical Generators of {T(Pvw)}{S(N)}
5.3.2 Mechanical Generators of {G(u)}{S(N)}
5.3.3 Mechanical Generators of {G2(u)}{S(N)} and {G(u)){S2(N)}
5.3.4 Generation of 2-DOF Joints
5.4 Generation of Mechanisms
5.5 Input Selection Method
5.6 Summary
6 Type Synthesis of 4-DOF 2R2T Parallel Mechanisms
6.1 Kinematic Bond Between the Base and the Moving Platform
6.2 Limb Kinematic Bond and a Configurable Platform
6.3 Mechanical Generators of Limb Kinematic Bonds
6.4 Generation of Parallel Mechanisms
6.4.1 Conventional Parallel Mechanisms
6.4.2 Parallel Mechanisms with a Configurable Platform
6.5 Summary
7 Type Synthesis of 4-DOF Parallel Mechanisms with Bifurcation of Schoenflies Motion
7.1 Preliminaries and Notations of Displacement Group
7.1.1 Displacement Subgroup
7.1.2 {G(y)} and {G- l(y)}
7.2 Bifurcation of Schoenflies Motion in PMs
7.2.1 Displacement Set of PMs with Bifurcation of Schoenflies Motion
7.2.2 Bifurcation of 1-DOF Rotation Motion
7.2.3 A 2-PPPRR PM with Bifurcation of Schoenflies Motion
7.3 Type Synthesis of PMs with Bifurcation of Schoenflies Motion
7.3.1 Geometric Conditions for PMs with Bifurcation of Schoenflies Motion
7.3.2 {X(y)}{X(x)}: General Representation of Limb Bonds for PMs with Bifurcation of Schoenflies Motion
7.3.3 {X - i(y)} and {X -j(x)}
7.3.4 Category 1: For i = 0, {X(y)}{X(x)} ={X(Y)I{X - 3(x)}
7.3.5 Category If: For i = 1, {X(y)}{X(x)} ={X- l(y)I{X - 2(x)}
7.3.6 Category III: For i = 2, {X(y)}{X(x)} ={X- 2(y)}{X- l(x)}
7.3.7 Category IV: For i = 3, {X(y)}{X(x)} ={X - 3(y)}{X(x)}
7.3.8 Implementation of 2-DOF Joints: C and U Joint
7.4 Partitioned Mobility and Input Selection
7.5 Summary
References
8 Type Synthesis of 3-DOF RPR-Equivalent Parallel Mechanisms
8.1 RPR Motion
8.2 Limb Bond of RPR-Equivalent PMs
8.2.1 Displacement Set of the RPR-Equivalent PM
8.2.2 Limb Bond of an RPR-Equivalent PM
8.2.3 Parallel Arrangements of Three Limbs
8.3 Overconstrained RPR-Equivalent PMs
8.3.1 Subcategory 4-4-4
8.3.2 Subcategory 4-4-5
8.3.3 Subcategory 5-5-4
8.4 Non-overconstrained RPR-Equivalent PMs
8.4.1 Subcategory 1 of Non-overconstrained RPR-Equivalent PM
8.4.2 Subcategory 2 of Non-overconstrained RPR-Equivalent PM
8.5 Summary
References
9 Type Synthesis of 3-DOF PU-Equivalent Parallel Mechanisms
9.1 General and Spe aTbR Motion
9.1.1 General aTbR Motion and Parasitic Motion
9.1.2 Spe aTbR Motion and Parasitic Motion
9.1.3 Spe Case: A 1T2R PM with Rotation Bifurcation
9.2 Non-overconstrained 1T2R PM Without Parasitic Motion
9.2.1 Definition of a 1T2R PM Without Parasitic Motion
9.2.2 Limb Bond of a IT2R PM Without Parasitic Motion
9.2.3 Geometrical Condition of a 1T2R PM Without Parasitic Motion
9.2.4 Enumeration of Non-overconstrained 1T2R PM Without Parasitic Motion
9.3 Overconstrained 1T2R PM Without Parasitic Motion
9.4 Parasitic Motion Comparison of 3-PRS PMs with Different Limb Arrangements
9.4.1 Parasitic Motion of 3-PRS PMs in Category 1
9.4.2 Parasitic Motion of 3-PRS PMs in Category 2
9.4.3 Parasitic Motion of 3-PRS PMs in Category 3
9.4.4 Parasitic Motion of 3-PRS PMs in Category 4
9.4.5 Parasitic Motion of 3-PRS PMs in All Categories
9.5 Summary
References
10 Type Synthesis of a Spe Family of Remote Center-of-Motion Parallel Manipulators with Fixed Linear Actuators for Minimally Invasive Surgery
10.1 Kinematic Bonds and Mechanical Generations
10.1.1 Notations
10.1.2 {G(u) } and Its Mechanical Generators
10.1.3 {C(N, v)} and Its Mechanical Generators
10.2 Serial Generators of SP Equivalent
10.3 Parallel Generators of SP Equivalent
10.3.1 General Considerations
10.3.2 A Family of 5-DOF Limbs
10.3.3 A New Family of 5-DOF Limbs
10.3.4 Elimination of the Independent Local Rotations
10.3.5 Subfamily 1: {R(O, ui)}{R(A, vi)}{R(B, vi)} {c(o, w)}
10.3.6 Subfamily 2: {C(O, ui)}{R(A, vi)}{R(B, vi)} { R(O, w) }
10.3.7 A Spe Case
10.3.8 Subfamily 3: {C(O, ui)}{R(A, vi)}{C(O, w)}
10.4 Parallel Generators of SP-Equivalent Motion
10.5 Summary
References
11 Type Synthesis of Non-overconstrained 3-DOF Translational Parallel Mechanisms with Less Structural Shakiness
11.1 Number of Infinities of Rotation Axes and Motion Type
11.1.1 Definition of Number of Infinities of Rotation Axes
11.1.2 Number of Rotation Axes of 2T1R Motion
11.1.3 Number of Rotation Axes of 3T1R Motion
11.1.4 Number of Rotation Axes of 3T2R Motion
11.2 Structural Shakiness Index for Non-overconstrained TPM.
11.2.1 Definition of Structural Shakiness Index (SSI)
11.2.2 Structural Shakiness of Non-overconstrained TPMs with SSI = 2 and Optimal Limb Arrangement
11.2.3 Structural Shakiness of Non-overconstrained TPMs with SSI = 1 and Optimal Limb Arrangement
11.3 Type Synthesis of Less Shaky Non-overconstrained TPMS
11.3.1 X-Motion Generators with One P Pair or Two P Pairs
11.3.2 Identification of Limb Chains with SSI = 2
11.3.3 Identification of Limb Chains with SSI = 1
11.3.4 On the Non-overconstrained Version of the Delta Robot
11.3.5 Less Shaky Non-overconstrained TPMs
11.4 Summary
References
12 Type Synthesis of Pan-Tilt Wrists with Uncoupled Actuation.
12.1 Motion Set of Pan-Tilt Wrists
12.2 General Geometry of Pan-Tilt Wrists
12.3 First Family of Wrists: {Li} = {S(Q)}
12.4 Second Family of Wrists: {Li} = {G(k)}
12.5 Inadequate Limbs
12.6 Summary
References