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2018 | OriginalPaper | Buchkapitel

1. Introduction

verfasst von : Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin

Erschienen in: Topology Design of Robot Mechanisms

Verlag: Springer Singapore

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Abstract

The theory and method for topology design of robot mechanisms are briefly introduced in this chapter. The content deals with: (1) The systematic theory 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 principles and their corresponding mechanism theory systems. (4) Some original work of this book, including: (a) Three new basic concepts (geometric constraint type of axes, POC set and SOC unit) are proposed (refer to Chaps. 2 and 3). (b) Four basic equations for mechanism topology (POC equation for serial mechanisms, POC equation for PMs, full cycle DOF formula, coupling degree formula of AKC) are established (refer to Chaps. 4–7). (c) 12 topological characteristics of PMs are derived. These topological characteristics can be used in topological performance analysis, classification and optimization of PM structure types (refer to Chap. 9). (d) A systematic method for topology design of PMs is established. The design process includes two stages. The first stage covers the structure synthesis in which many structure types can be obtained. The second stage contains topological performance analysis, classification and optimization of structure types based on the topological characteristics (refer to Chaps. 8–10). This method is independent of the motion position and the fixed coordinate system (i.e. it is not necessary to establish the fixed coordinate system). Thus, the full-cycle DOF mechanisms are obtained and the geometry conditions of mechanism existence have generality. Therefore, this method is a geometrical method, which is totally different from the other three methods. (e) The mechanism composition principle based on SOC unit is proposed. This composition principle provides a theoretical basis for unified modeling of mechanism topology, kinematics and dynamics based on SOC unit (refer to Chap. 7).

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Titel: Introduction
verfasst von: Ting-Li Yang
Anxin Liu
Huiping Shen
Lubin Hang
Yufeng Luo
Qiong Jin
Verlag: Springer Singapore
Buch: Topology Design of Robot Mechanisms
Print ISBN: 978-981-10-5531-7

Electronic ISBN: 978-981-10-5532-4

Copyright-Jahr: 2018
DOI: https://doi.org/10.1007/978-981-10-5532-4_1

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