Topology Design of Robot Mechanisms

Description

This book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms. The main original theoretical contributions of this book include: A. Three basic concepts · The “geometrical constraint type of axes” is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) and the fixed coordinate system (Chapter 2). · The position and orientation characteristic (POC) set is used to describe the POC of the relative motion between any two links. The POC set, derived from the unit vector set of the velocity of a link, is only depend on the topological structure of a mechanism. Therefore, it is also independent of the motion positions and the fixed coordinate system (Chapter 3). · The single open chain (SOC) unit is the base unit of the topological structure used to develop the four basic equations of the mechanism topology (Chapters 2, 4–6). B. The mechanism composition principle based on the SOC units This book proposes a mechanism composition principle, based on the SOC units, to establish a systematic theory for the unified modeling of the topology, kinematics, and dynamics of mechanisms based on the SOC units (Chapter 7). C. Four basic equations • The POC equation of serial mechanisms with 10 symbolic operation rules (Chapter 4). • The POC equation of parallel mechanisms with 14 symbolic operation rules (Chapter 5). • The general DOF formula for spatial mechanisms (Chapter 6). • The coupling degree formula for the Assur kinematic chain (Chapter 7). D. One systematic method for the topology design of robot mechanisms (Chapters 8–10) Based on the three basic concepts and the four basic equations addressed above, this book puts forward a systematic method for the topology design of parallel mechanisms, which is fundamentally different from all existing methods. Its main characteristics are as follows: • The design process includes two stages: the first is structure synthesis, which derives many structure types; the second involves the performance analysis, classification and optimization of structure types derived from the first stage. • The design operation is independent of the motion positions and the fixed coordinate system. Therefore, the proposed method is essentially a geometrical method, which ensures the full-cycle DOF and the generality of geometric conditions of mechanism existence. • Each individual design step follows an explicit formula or the guidelines for design criteria, making the operation simple, feasible and reproducible. In addition, the topology design of the SCARA PMs is studied in detail to demonstrate the proposed method (Chapter 10). Front Matter ....Pages i-xix Introduction (Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin)....Pages 1-13 Topological Structure of Mechanisms and Its Symbolic Representation (Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin)....Pages 15-25 Position and Orientation Characteristics Set (Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin)....Pages 27-41 Position and Orientation Characteristics Equation for Serial Mechanisms (Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin)....Pages 43-66 Position and Orientation Characteristics Equation for Parallel Mechanisms (Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin)....Pages 67-94 General Formula of Degrees of Freedom for Spatial Mechanisms (Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin)....Pages 95-122 Mechanism Composition Principle Based on Single-Open-Chain Unit (Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin)....Pages 123-155 General Method for Structure Synthesis of Serial Mechanisms (Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin)....Pages 157-175 General Method for Topology Design of Parallel Mechanisms (Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin)....Pages 177-206 Topology Design of (3T-1R) Parallel Mechanisms (Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin)....Pages 207-236