This is the first book of robotics presenting solutions of uncoupled and fully-isotropic PMs and a method for their structural synthesis. Non-redundant/redundant, overconstrained/isostatic solutions of uncoupled and fully-isotropic PMs with elementary/complex legs actuated by linear/rotary actuators with/without idle mobility and two to six DoFs are present in a systematic approach of structural synthesis. These solutions are derived from families of PMs with decoupled motions.

Structural synthesis of a new family of parallel robots the fully-isotropic parallel robots

Inhalt
From the contents Preface. 1. Structural parameters of parallel robots. 2. Structural synthesis approach of uncoupled and fully-isotropic parallel manipulators. 3. Decoupled, uncoupled and fully-isotropic parallel robots with screw motion. 4. Decoupled, uncoupled and fully-isotropic parallel wrists. 5. Decoupled, uncoupled and fully-isotropic parallel robots with planar motion. 6. Decoupled, uncoupled and fully-isotropic parallel robots with three degrees of freedom and non planar motion. 7. Decoupled, uncoupled and fully-isotropic translational parallel robots. 8. Decoupled, uncoupled and fully-isotropic parallel robots with Schönflies motion. 9. Decoupled, uncoupled and fully-isotropic parallel robots with four degrees of freedom T2R2-type. 10. Decoupled, uncoupled and fully-isotropic parallel robots with four degrees of freedom T1R3-type. 11. Decoupled, uncoupled and fully-isotropic parallel robots with five degrees of freedom T3R2-type. 12. Decoupled, uncoupled and fully-isotropic parallel robots with five degrees of freedom T2R3-type. 13. Decoupled, uncoupled and fully-isotropic parallel robots with six degrees of freedom.