Gogu G. Structural Synthesis of Parallel Robots: Part 2: Translational Topologies with Two and Three Degrees of Freedom

Springer Science + Business Media, 2009, 761 pages, ISBN: 978-1-4020-9793-5This book represents the second part of a larger work dedicated to the structural synthesis of parallel robots. Part 1 already published in 2008 (Gogu 2008a) has presented the methodology proposed for structural synthesis. This book focuses on various topologies of translational parallel robots systematically generated by using the structural synthesis approach proposed in Part 1.The originality of this work resides in the fact that it combines the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel mechanisms. Parallel robotic manipulators can be considered a well-established option for many different applications of manipulation, machining, guiding, testing, control, tracking, haptic force feed-back, etc. A typical parallel robotic manipulator consists of a mobile platform connected to the base (fixed platform) by at least two kinematic chains called limbs. The mobile platform can achieve between one and three independent translations (T) and one to three independent rotations (R).Terminology
Methodology of structural synthesis
New formulae for mobility, connectivity, redundancy and overconstraint of parallel robots
Evolutionary morphology approach
Types of parallel robots with respect to motion coupling
Translational parallel robotsTranslational parallel robots with two degrees of freedom
T2-type translational parallel robots with coupled motions
Overconstrained solutions
Non overconstrained solutions
T2-type translational parallel robots with decoupled motions
Overconstrained solutions
Non overconstrained solutions
T2-type translational parallel robots with uncoupled motions
Overconstrained solutions
Non overconstrained solutions
Maximally regular T2-type translational parallel robots
Overconstrained solutions
Non overconstrained solutions
Other T2-type translational parallel robots
Overconstrained solutions
Non overconstrained solutionsOverconstrained T3-type TPMs with coupled motions
Basic solutions with linear actuators
Derived solutions with linear actuators
Basic solutions with rotating actuators
Derived solutions with rotating actuatorsNon overconstrained T3-type TPMs with coupled motions
Basic solutions with linear actuators
Derived solutions with linear actuators
Basic solutions with rotating actuators
Derived solutions with rotating actuatorsOverconstrained T3-type TPMs with uncoupled motions
Basic solutions with rotating actuators
Derived solutions with rotating actuatorsNon overconstrained T3-type TPMs with uncoupled motions
Basic solutions with rotating actuators
Derived solutions with rotating actuatorsMaximally regular T3-type translational parallel robots
Overconstrained solutions
Basic solutions with no idle mobilities
Derived solutions with idle mobilities
Non overconstrained solutions