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Theory of Parallel Mechanisms: Unlocking the Power of Robotics and Machine Science

H.G. Wells

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Theory of Parallel Mechanisms (Mechanisms and Machine Science 6)

Parallel mechanisms, a remarkable class of robotic systems, have emerged as game-changers in the realm of engineering and beyond. They consist of multiple interconnected legs or links, arranged in such a way that they can move in parallel to achieve complex motions. This unique architecture sets them apart from traditional serial robots, offering exceptional advantages in terms of accuracy, speed, stiffness, and payload capacity.

In this comprehensive book, 'Theory of Parallel Mechanisms: Mechanisms and Machine Science,' renowned experts delve into the intricacies of parallel mechanisms. They meticulously cover the fundamental principles, advanced analysis techniques, and practical design methodologies that underpin these innovative machines.

Chapter 1: Delving into the Kinematic Fundamentals

The book's first chapter lays the foundation for understanding the kinematics of parallel mechanisms. It introduces the concept of mobility and dexterous workspaces, exploring how they relate to the structural configuration and degrees of freedom of these mechanisms.

The authors provide a detailed analysis of forward and inverse kinematics, demonstrating how to determine the position and orientation of the moving platform given the joint positions, and vice versa. They also cover the important aspects of singular configurations and workspace analysis, essential for optimizing the performance of parallel mechanisms.

Chapter 2: Unveiling the Dynamic Behavior

Moving beyond kinematics, the second chapter focuses on the dynamics of parallel mechanisms. It presents a comprehensive framework for analyzing their inertial, gravity, and external force effects. The authors explore the concepts of mass moment of inertia, generalized inertia matrix, and dynamic equations of motion.

This chapter equips readers with the tools to understand how parallel mechanisms respond to applied forces and torques, critical knowledge for designing and controlling these systems effectively.

Chapter 3: Mastering the Art of Design

The third chapter delves into the practical aspects of designing parallel mechanisms. The authors provide a step-by-step guide to selecting the appropriate mechanism type, determining the link lengths, and optimizing the geometry for desired performance characteristics.

This chapter emphasizes the importance of considering factors such as workspace requirements, load capacity, and stiffness. It also covers the use of computer-aided design (CAD) tools and optimization techniques to streamline the design process.

Chapter 4: Embracing Control Strategies

The fourth chapter focuses on the control of parallel mechanisms. It introduces the principles of feedback control, including PID controllers, state-space control, and advanced motion control algorithms.

The authors explore the challenges associated with controlling parallel mechanisms, such as nonlinearities and uncertainties. They provide practical control strategies for achieving precise and stable operation, essential for various applications from manufacturing to medical robotics.

Chapter 5: Exploring Cutting-Edge Applications

The final chapter showcases the vielfältig applications of parallel mechanisms. The authors provide detailed case studies of their use in precision manufacturing, medical robotics, aerospace engineering, and other industries.

This chapter highlights the real-world impact of parallel mechanisms, demonstrating their ability to solve complex engineering challenges and improve performance in various fields.

: A Transformative Resource for Robotics and Machine Science

, 'Theory of Parallel Mechanisms: Mechanisms and Machine Science' is an invaluable resource for engineers, researchers, and students alike. It provides a comprehensive and up-to-date overview of the design, analysis, control, and applications of these revolutionary mechanisms.

With its in-depth theoretical foundations and practical examples, this book empowers readers to harness the full potential of parallel mechanisms and drive innovation in robotics and machine science.

Theory of Parallel Mechanisms (Mechanisms and Machine Science Book 6)

by Zhen Huang

5 out of 5