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正版 Geometric method for type synthesis of parallel manipul
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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
本书系统地介绍了少自由度并联机构构型综合的李群方法,内容包括研究背景的综述、相关基础理论的介绍、构型综合的方法步骤、各类少自由度并联机构的设计实例。基础理论部分给出了群论的基本知识,以及刚体运动的群表示方法,为后续章节提供了理论基础。第四章给出了李群方法用于构型综合的具体步骤,为各类少自由度并联机构的构型综合提供了统一的框架。
本书介绍了一种并联机构构型综合的李群方法,将并联机构的末端运动用群表达式进行表达,借助群的交并运算推导得到合适的分支运动链和必要的装配条件,形成了一种并联机构构型综合的系统方法,适应于所有种类的少自由度并联机构,解决了长期以来并联机构综合方法缺乏普适性的难题,具有突出的学术价值。
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