Structural Synthesis of Parallel Robots

Preface; Acknowledgements; List of abbreviations and notations; 1 Introduction; 1.1 Terminology; 1.1 Links, joints and kinematic chains; 1.2 Serial, parallel and hybrid robots; 1.2 Methodology of structural synthesis; 1.2.1 New formulae for mobility, connectivity, redundancy and overconstraint of parallel robots; 1.2.2 Evolutionary morphology approach; 1.2.3 Types of parallel robots with respect to motion coupling; 1.3 Parallel robots with planar motion of the moving platform; 2 Overconstrained planar parallel robots with coupled motions; 2.1 Basic solutions; 2.1.1 Fully-parallel solutions; 2.1.2 Non fully-parallel solutions; 2.2 Derived solutions; 3 Non overconstrained planar parallel robots with coupled motions; 3.1 Fully-parallel solutions; 3.2 Non fully-parallel solutions; 4 Planar parallel robots with uncoupled motions; 4.1 Overconstrained solutions; 4.1.1 Basic solutions; 4.1.2 Derived solutions; 4.2 Non overconstrained solutions; 5 Maximally regular planar parallel robots; 5.1 Overconstrained solutions; 5.1.1 Basic solutions; 5.1.2 Derived solutions; 5.2 Non overconstrained solutions; 6 Spatial PMs with coupled planar motion of the moving platform; 6.1 Overconstrained solutions ; 6.1.1 Basic solutions; 6.1.2 Derived solutions; 6.2 Non overconstrained solutions; 7 Spatial PMs with uncoupled planar motion of the moving platform; 7.1 Overconstrained solutions; 6.1.1 Basic solutions; 7.1.2 Derived solutions; 7.2 Non overconstrained solutions ; 8 Maximally regular SPMs with planar motion of the movingPlatform; 8.1 Overconstrained solutions ; 5.1.1 Basic solutions; 8.1.2 Derived solutions; 5.2 Non overconstrained solutions ; References; Index.