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Titlebook: Topology Design of Robot Mechanisms; Ting-Li Yang,Anxin Liu,Qiong Jin Book 2018 The Editor(s) (if applicable) and The Author(s), under exc

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发表于 2025-3-21 17:14:44 | 显示全部楼层 |阅读模式
书目名称Topology Design of Robot Mechanisms
编辑Ting-Li Yang,Anxin Liu,Qiong Jin
视频videohttp://file.papertrans.cn/927/926480/926480.mp4
概述Presents a new systematic theory for studying a mechanism’s topological structure.Reveals an easy-to-implement method for the topological structure design of mechanisms.Provides illustrative examples
图书封面Titlebook: Topology Design of Robot Mechanisms; Ting-Li Yang,Anxin Liu,Qiong Jin Book 2018 The Editor(s) (if applicable) and The Author(s), under exc
描述.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
出版日期Book 2018
关键词Robot mechanism; topological structure synthesis; mechanism composition principle; position and orienta
版次1
doihttps://doi.org/10.1007/978-981-10-5532-4
isbn_softcover978-981-13-5418-2
isbn_ebook978-981-10-5532-4
copyrightThe Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapor
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Introduction,y and method for topological structure design of mechanisms is called mechanism topology and the topological structure design of mechanisms is abbreviated as mechanism topology design. (2) Four categories of PM topology design methods and their main features. (3) Four types of mechanism composition
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Topological Structure of Mechanisms and Its Symbolic Representation,cribing topological structure - geometric constraint type (the type of geometrical constraints to pair axes imposed by links, is proposed. This new element and the other two traditional elements (type of kinematic pair, connection relation between links) formed the three basic elements of topologica
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Position and Orientation Characteristics Equation for Serial Mechanisms,city analysis and topological structure invariance of serial mechanisms (Chap. .), the unit vector set of the end link velocity is “union” of unit vector sets of each pair, which depends only on the topological structure (excluding singular positions) of a mechanism (Chap. .). (2) Since the unit vec
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General Formula of Degrees of Freedom for Spatial Mechanisms,ith: (1) The general DOF formula for PMs is proposed based on the topologically equivalent principle, POC equation of serial mechanisms in Chap. 4 and POC equation of PMs in Chap. 5. This DOF formula is independent of motion position of a PM and it is not necessary to establish the fixed coordinate
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