Structural synthesis of parallel robots. Part 2: Translational topologies with two and three degrees of freedom (Q999163): Difference between revisions

[For the review of part 1 see Zbl 1156.70001.] Part 2 begins with a short summary of developed by the author new formulae for mobility, connectivity, redundancy, and over-constraint. Various solutions of simple and complex limbs with two to six degrees of connectivity are systematically generated by this new structural synthesis approach. About 250 figures containing more than 1500 structural diagrams illustrate the limb solutions using the here introduced symbolic notation. Such solutions are often used in parallel, serial and hybrid robots. In Part 2, the author first summarizes the main concepts and presents again new formulae used to calculate the main structural parameters of parallel manipulators (PMs). He explains the original notation and the approach of structural synthesis. Chapter 2 (pp. 23--106) focuses on the structural synthesis of T2-type translational parallel manipulators (TPMs) with two degrees of freedom. Presented are the over-constrained/isostatic solutions of coupled, decoupled, uncoupled, and fully isotropic/maximally regular PMs with elementary/complex limbs, actuated by linear/rotary actuators, with and without idle mobilities. Chapter 3 (pp. 107--365) presents the structural synthesis of over-constrained T3-type TPMs with three degrees of freedom and coupled motions. Basic solutions and derived solutions with linear or rotating actuators are presented. Basic solutions do not combine idle mobilities, and are used to reduce the degree of over-constraint in the derived solutions. Chapter 4 (pp. 365--470) presents the structural synthesis of non-over-constrained T3-type TPMs with decoupled motion, together with basic and derived solutions with linear or rotating actuators. Chapters 5 and 6 describe the structural synthesis of over-constrained (pp. 471--614) and non-over-constrained (pp. 615--686 ) T3-type TPMs with uncoupled motions. Again basic solutions and derived solutions with rotating actuators and identical limbs are presented. In the final Chapter 7 (pp. 687--748) the author discusses the structural synthesis of over-constrained and non-over-constrained maximally regular T3-type TPMs, together with basic and derived solutions with linear actuators and identical limbs. Parallel robotic manipulators can be considered a well-established part of many applications and are subject of many robotic research studies. With this work, the author has made a significant contribution towards establishing innovative and interesting solutions for parallel mechanisms. These solutions, supplemented with systematized tables of their structural parameters, will help in the rapid and widespread implementation. The presentation is at a level of a graduate textbook, and the book will be useful and enjoyed by serious graduate students and by scientists and engineers from academia and industry. Part 3 (PMs with two and three degrees of freedom) and Part 4 (PMs with four, five and six degrees of freedom) of his work are announced by the author and will soon be finalized.