Parallel Manipulators of Robots: Theory and Applications (Mechanisms and Machine Science Book 92)

Introduction
Contents
Part ISynthesis of Architecture of Robot One-Loop and Multiloop Manipulators
1 Synthesis of Robot One-Loop Multi-Degree-of-Freedom Manipulators
	1.1 Systematization of Robot Manipulators Design
	1.2 Synthesis of Robot One-Loop Manipulators
2 Synthesis of Robot Multiloop Manipulators
	2.1 Rationale for the Possibility of Using Methods of Combinatorial Topology to Modeling the Mechanisms and Manipulators Design
		2.1.1 The Basic Concepts of the Combinatorial Topology
		2.1.2 Rationale for the Use of Combinatorial Topology Methods
	2.2 Construction of a Topological Model of Two Interconnected Bodies
		2.2.1 Binary Relations Between the Vertices
		2.2.2 Combinatorial Sum of Simplexes
		2.2.3 Construction of Simplicial Complex of a Kinematic Pair
	2.3 Synthesis of the Structure of the Multiloop Parallel Robot Manipulator
		2.3.1 Comparative Analysis of the STEWART-GOUHG and SHOLKOR Platforms
Part IIAnalysis of the Design of Robot Parallel Manipulators
3 Determination of the Number of Degrees-of-Freedom of Mechanisms Using Reference System Imaging
	3.1 State of the Theory of Closed Mechanisms Design Analysis
	3.2 Reference System and Transformation Matrix Parameters
	3.3 Binding of the Reference Systems to the Links
	3.4 Transformation of the Coordinate Systems Related to the Links
	3.5 Analysis of the Transformation Parameters
	3.6 Rationale for the Method of Determining the Number of Dependent Constraints
	3.7 Derivation of the Equation for Determining the Degree-of-Freedom Considering Dependent Constraints
	3.8 Sequence of the Mechanism Design Analysis Using the Zero Parameters
	3.9 Examples of the Mechanism and Manipulator Design Analysis
	3.10 Construction of Rational Mechanisms
4 Analytical Description of the Links of Spatial Mechanisms and Manipulators by Redundant Parameters Method
	4.1 Construction of Mathematical Models of Mechanisms
	4.2 Selection of the Coordinate Systems for the Transformation by eight Parameters
	4.3 Peculiarities of the Selection of the Coordinate Systems
	4.4 Sequence of the Coordinate Systems’ Transformation
	4.5 Examples of Redundant Parameters’ Method Application
Part IIIKinematics and Dynamics of One-Loop and Multiloop Parallel Manipulators
5 Kinematics of One-Loop Parallel Manipulators
	5.1 Homogeneous Transformation Matrices for Core Functional Groups
	5.2 Direct Position Problem for the CFG
	5.3 Inverse Position Problem for the CFG
	5.4 Solution of the Direct Position Problem for the OPM
	5.5 Velocities, Accelerations of the Points and Angular Velocities, Angular Accelerations of the Links
		5.5.1 Vector Method of Determining the Kinematic Parameters of the Manipulator Links
		5.5.2 Kinematic Parameters in the Link Coordinate System
		5.5.3 Kinematic Parameters of the Connecting Link and the Gripper
		5.5.4 Homogeneous Matrix Method for Determining Speeds and Accelerations
		5.5.5 Generalized Velocities and Accelerations
6 Kinematics of Multiloop Parallel Manipulators
	6.1 The Features Conditioned by the Design of the Multiloop Parallel Manipulator
	6.2 Solution a Direct Position Problem of the Platform for the Multiloop Manipulator
	6.3 Solution a Inverse Position Problem of the Platform for the Multiloop Parallel Manipulator
7 Parallel Manipulators’ Dynamics
	7.1 Power Analysis of One-Loop Parallel Manipulators
		7.1.1 Power Analysis of the Connecting Link and the Gripper
		7.1.2 Power Analysis of CFG by the Recurrence Formulas
	7.2 Power Analysis of the Multiloop Manipulator
Part IVUse of One-Loop and Multiloop Robot Manipulators
8 Examples of One-Loop Manipulator Applications
	8.1 Description of Robots with One-Loop Manipulators
9 Applications for Multiloop Manipulators
	9.1 Human Cervical Spine Prosthesis
	9.2 Active Support Based on the SHOLKOR MPM
		9.2.1 Application of the Active Supports Composed of SHOLKOR Robots
	9.3 Float Wave Power Station
	9.4 Sail Wind Power Station Based on the MPM
Conclusion
References