Analysis and Synthesis of Compliant Parallel Mechanisms-Screw Theory Approach

1. Auflage 2021
ISBN: 978-3-030-48312-8
Verlag: Springer International Publishing

Buch, Englisch, Band 139, 162 Seiten, Format (B × H): 160 mm x 241 mm, Gewicht: 453 g

Reihe: Springer Tracts in Advanced Robotics

This book addresses the design of compliant mechanisms, presenting readers with a good understanding of both the solid mechanics of ?exible elements and their configuration design, based on a mechanism-equivalent approach in the framework of screw theory.
The book begins with the theoretical background of screw theory, and systematically addresses both the compliance characteristics of flexible elements and their configuration design. The book then covers a broad range of compliant parallel mechanism design topics, from stiffness to constraint decomposition, from conceptual design to dimensional design, and from analysis to synthesis, as well as the large deformation problem; this is followed by both simulations and physical experiments, offering readers a solid foundation and useful tools. Given its scope and the results it presents, the book will certainly benefit and inform future research on the topic. It offers a valuable asset for researchers, developers, engineers and graduate students with an interest in compliant mechanisms, robotics and screw theory.

Zielgruppe

Research

Autoren/Hrsg.

Dai, Jian S.

Qiu, Chen

Fachgebiete

• Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Regelungstechnik

Inhaltsverzeichnis

Introduction.- An Introduction to Screw Theory.- Screw Representation of Flexible Elements.- Construction of Compliant Mechanisms.- Conceptual Design of Compliant Parallel Mechanisms.- Stiffness Construction and Decomposition of Compliant Parallel Mechanisms.- Compliance Parameterization and Optimization of Compliant Parallel Mechanisms.- Large Deformation Analysis of Compliant Parallel Mechanisms.- Conclusions and Future Work.