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.- 2 Parallel mechanisms with cylindrical motion of the moving platform.- 2.1 T1R1-type parallel mechanisms with coupled cylindrical motion.- 2.1.1 Overconstrained solutions.- 2.1.2 Non overconstrained solutions.- 2.2 T1R1-type parallel mechanisms with decoupled cylindrical motion.- 2.2.1 Overconstrained solutions.- 2.2.2 Non overconstrained solutions.- 2.3 T1R1-type parallel mechanisms with uncoupled cylindrical motion.- 2.3.1 Overconstrained solutions.- 2.3.2 Non overconstrained solutions.- 2.4 Maximally regular parallel mechanisms with cylindrical motion.- 2.4.1 Overconstrained solutions.- 2.4.2 Non overconstrained solutions.- 3 Other T1R1-type parallel mechanisms.- 3.1 T1R1-type parallel mechanisms with coupled motions.- 3.1.1 Overconstrained solutions.- 3.1.2 Non overconstrained solutions.- 3.2 T1R1-type parallel mechanisms with decoupled motions.- 3.2.1 Overconstrained solutions.- 3.2.2 Non overconstrained solutions.- 3.3 T1R1-type parallel mechanisms with uncoupled motions.- 3.3.1 Overconstrained solutions.- 3.3.2 Non overconstrained solutions.- 3.4 Maximally regular T1R1-type parallel mechanisms.- 3.4.1 Overconstrained solutions.- 3.4.2 Non overconstrained solutions.- 4 Parallel wrists with two degrees of freedom.- 4.1 R2-type parallel wrists with coupled motions.- 4.1.1 Overconstrained solutions.- 4.1.2 Non overconstrained solutions.- 4.2 R2-type parallel wrists with decoupled motions.- 4.2.1 Overconstrained solutions.- 4.2.2 Non overconstrained solutions.- 4.3 R2-type parallel wrists with uncoupled motions.- 4.3.1 Overconstrained solutions.- 4.3.2 Non overconstrained solutions.- 4.4 Maximally regular R2-type parallel wrists.- 4.4.1 Overconstrained solutions.- 4.4.2 Non overconstrained solutions.- 5 T2R1-type overconstrained spatial parallel manipulators.- 5.1 Overconstrained solutions with coupled motions.- 5.1.1 Fully-parallel solutions.- 5.1.2 Non fully-parallel solutions.- 5.2 Overconstrained solutions with decoupled motions.- 5.2.1 Fully-parallel solutions.- 5.2.2 Non fully-parallel solutions.- 5.3 Overconstrained solutions with uncoupled motions.- 5.3.1 Fully-parallel solutions.- 5.3.2 Non fully-parallel solutions.- 5.4 Overconstrained maximally regular solutions.- 5.4.1 Fully-parallel solutions.- 5.4.2 Non fully-parallel solutions.- 6 Non overconstrained T2R1-type spatial parallel manipulators.- 6.1 Non overconstrained solutions with coupled motions.- 6.1.1 Fully-parallel solutions.- 6.1.2 Non fully-parallel solutions.- 6.2 Non overconstrained solutions with decoupled motions.- 6.2.1 Fully-parallel solutions.- 6.2.2 Non fully-parallel solutions.- 6.3 Non overconstrained solutions with uncoupled motions.- 6.3.1 Fully-parallel solutions.- 6.3.2 Non fully-parallel solutions.- 6.4 Non overconstrained maximally regular solutions.- 6.4.1 Fully-parallel solutions.- 6.4.2 Non fully-parallel solutions.- 7 T1R2-type spatial parallel manipulators.- 7.1 T1R2-type spatial parallel manipulators with coupled motions.- 7.1.1 Overconstrained solutions.- 7.1.2 Non overconstrained solutions.- 7.2 T1R2-type spatial parallel manipulators with decoupled motions.- 7.2.1 Overconstrained solutions.- 7.2.2 Non overconstrained solutions.- 7.3 T1R2-type spatial parallel manipulators with uncoupled motions.- 7.3.1 Overconstrained solutions.- 7.3.2 Non overconstrained solutions.- 7.4 Maximally regular T1R2-type spatial parallel manipulators.- 7.4.1 Overconstrained solutions.- 7.4.2 Non overconstrained solutions.- 8 Parallel wrist