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Geometric method for type synthesis of parallel manipulators（并联机构构型综合的几何方法）
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1Introduction
- 第一节 History and Application of Parallel Mechanisms
- 第二节 Type Synthesis of Parallel Mechanisms
- 第三节 Objective and Organization of This Book
2Fundamental of Group Theory
- 第一节 History
- 第二节 Group and Subgroup
- 第三节 Lie Group
- 第四节 Geometry in Nonrelativistic Mechanics
3Rotation and Displacements of Rigid Body
- 第一节 Vector Products and Algebra
- 第二节 Rotation of Vectors
- 第三节 Operator of Displacement
- 第四节 As of a Finite Screw Motion
- 第五节 Lie Subalgebras
- 第六节 The Displacement Lie Subgroups
4Lie Group Based Method for Type Synthesis of Parallel Mechanisms
- 第一节 Kinematic Pairs and Chains
- 第二节 Comition of Kinematic Bonds
- 第三节 Displacement Subgroup of Primitive Mechanical Generators
- 第四节 Intersection of Kinematic Bonds
- 第五节 Procedures of Type Synthesis
- 第六节 Summary
5Type Synthesis of 5-DOF 3R2T Parallel Mechanism
- 第一节 Kinematic Bond Between the Base and the Moving Platform
- 第二节 Limb Kinematic Bonds
- 第三节 Mechanical Generators of Limb Kinematic Bonds
- 第四节 Generation of Mechanisms
- 第五节 Input Selection Method
- 第六节 Summary
6Type Synthesis of 4-DOF 2R2T Parallel Mechanisms
- 第一节 Kinematic Bond Between the Base and the Moving Platform
- 第二节 Limb Kinematic Bond and a Configurable Platform
- 第三节 Mechanical Generators of Limb Kinematic Bonds
- 第四节 Generation of Parallel Mechanisms
- 第五节 Summary
7Type Synthesis of 4-DOF Parallel Mechanisms with Bifurcation of Schoenflies Motion
- 第一节 Preliminaries and Notations of Displacement Group
- 第二节 Bifurcation of Schoenflies Motion in PMs
- 第三节 Type Synthesis of PMs with Bifurcation of Schoenflies Motion
- 第四节 Partitioned Mobility and Input Selection
- 第五节 Summary
8Type Synthesis of 3-DOF RPR-Equivalent Parallel Mechanisms
- 第一节 RPR Motion
- 第二节 Limb Bond of RPR-Equivalent PMs
- 第三节 Overconstrained RPR-Equivalent PMs
- 第四节 Non-overconstrained RPR-Equivalent PMs
- 第五节 Summary
9Type Synthesis of 3-DOF PU-Equivalent Parallel Mechanisms
- 第一节 General and Spe aTbR Motion
- 第二节 Non-overconstrained 1T2R PM Without Parasitic Motion
- 第三节 Overconstrained 1T2R PM Without Parasitic Motion
- 第四节 Parasitic Motion Comparison of 3-PRS PMs with Different Limb Arrangements
- 第五节 Summary
10Type Synthesis of a Spe Family of Remote Center-of-Motion Parallel Manipulators
- 第一节 Kinematic Bonds and Mechanical Generations
- 第二节 Serial Generators of SP Equivalent
- 第三节 Parallel Generators of SP Equivalent
- 第四节 Parallel Generators of SP-Equivalent Motion
- 第五节 Summary
11Type Synthesis of Non-overconstrained 3-DOF Translational Parallel Mechanisms
- 第一节 Number of Infinities of Rotation Axes and Motion Type
- 第二节 Structural Shakiness Index for Non-overconstrained TPM
- 第三节 Type Synthesis of Less Shaky Non-overconstrained TPMS
- 第四节 Summary
12Type Synthesis of Pan-Tilt Wrists with Uncoupled Actuation
- 第一节 Motion Set of Pan-Tilt Wrists
- 第二节 General Geometry of Pan-Tilt Wrists
- 第三节 First Family of Wrists: {Li} = {S(Q)}
- 第四节 Second Family of Wrists: {Li} = {G(k)}
- 第五节 Inadequate Limbs
- 第六节 Summary