Theory of Parallel Mechanisms

Theory of Parallel Mechanisms

EnglishHardbackPrint on demand
Huang Zhen
Springer
EAN: 9789400742000
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Detailed information

This book contains mechanism analysis and synthesis.

In mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validity was only proved recently,  is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its latest developments are described. This principle is suitable for kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularity is stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented.

In mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, is introduced in detail. Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed.

EAN 9789400742000
ISBN 9400742002
Binding Hardback
Publisher Springer
Publication date July 26, 2012
Pages 422
Language English
Dimensions 235 x 155
Country Netherlands
Readership Professional & Scholarly
Authors Ding Huafeng; Huang Zhen; Li Qinchuan
Illustrations XIV, 422 p.
Edition 2013 ed.
Series Mechanisms and Machine Science