作者：QinchuanLi，Jacques
页数：238页
出版社：华中科技大学出版社
出版日期：2019
ISBN：9787568052757
电子书格式：pdf/epub/txt
内容简介
本书介绍了一种并联机构构型综合的李群方法，将并联机构的末端运动用群表达式进行表达，借助群的交并运算推导得到合适的分支运动链和必要的装配条件，形成了一种并联机构构型综合的系统方法，适应于所有种类的少自由度并联机构，解决了长期以来并联机构综合方法缺乏普适性的难题，具有突出的学术价值。
作者简介
李秦川，中国科协九大全国代表，国家杰出青年科学基金获得者，浙江省优秀教师，浙江省新世纪151人才工程重点资助培养人员。主要研究方向为机器人机构学，在少自由度并联机器人构型综合、拓扑性能评价和自由度分析等方向形成特色，主持国家和省部级科研项目9项，发表论文40余篇，其中SCI论文16篇，SCI他引300余次，出版Springer专著1部，授权中国发明专利17件。
本书特色
本书系统地介绍了少自由度并联机构构型综合的李群方法，内容包括研究背景的综述、相关基础理论的介绍、构型综合的方法步骤、各类少自由度并联机构的设计实例。基础理论部分给出了群论的基本知识，以及刚体运动的群表示方法，为后续章节提供了理论基础。第四章给出了李群方法用于构型综合的具体步骤，为各类少自由度并联机构的构型综合提供了统一的框架。
目录
1 Introduction
1.1 History and Application of Parallel Mechanisms
1.2 Type Synthesis of Parallel Mechanisms
1.2.1 The Motion-Based Methods
1.2.2 Constraint-Based Methods
1.2.3 Other Methods
1.3 Objective and Organization of This Book
References
2 Fundamental of Group Theory
2.1 History
2.2 Group and Subgroup
2.3 Lie Group
2.4 Geometry in Nonrelativistic Mechanics
2.4.1 The Projective Space and Group
2.4.2 Affine Space and Group
2.4.3 Euclidean Affine Space and Group
3 Rotation and Displacements of Rigid Body
3.1 Vector Products and Algebra
3.2 Rotation of Vectors
3.3 Operator of Displacement
3.4 Axis of a Finite Screw Motion
3.5 Lie Subalgebras
3.6 The Displacement Lie Subgroups
4 Lie Group Based Method for Type Synthesis of Parallel Mechanisms
4.1 Kinematic Pairs and Chains
4.2 Composition of Kinematic Bonds
4.3 Displacement Subgroup of Primitive Mechanical Generators
4.4 Intersection of Kinematic Bonds
4.5 Procedures of Type Synthesis
4.6 Summary
5 Type Synthesis of 5-DOF 3R2T Parallel Mechanism
5.1 Kinematic Bond Between the Base and the Moving Platform
5.2 Limb Kinematic Bonds
5.3 Mechanical Generators of Limb Kinematic Bonds
5.3.1 Mechanical Generators of {T(Pvw)}{S(N)}
5.3.2 Mechanical Generators of {G(u)}{S(N)}
5.3.3 Mechanical Generators of {G2(u)}{S(N)} and {G(u)){S2(N)}
5.3.4 Generation of 2-DOF Joints
5.4 Generation of Mechanisms
5.5 Input Selection Method
5.6 Summary
6 Type Synthesis of 4-DOF 2R2T Parallel Mechanisms
6.1 Kinematic Bond Between the Base and the Moving Platform
6.2 Limb Kinematic Bond and a Configurable Platform
6.3 Mechanical Generators of Limb Kinematic Bonds
6.4 Generation of Parallel Mechanisms
6.4.1 Conventional Parallel Mechanisms
6.4.2 Parallel Mechanisms with a Configurable Platform
6.5 Summary
7 Type Synthesis of 4-DOF Parallel Mechanisms with Bifurcation of Schoenflies Motion
1.1 History and Application of Parallel Mechanisms
1.2 Type Synthesis of Parallel Mechanisms
1.2.1 The Motion-Based Methods
1.2.2 Constraint-Based Methods
1.2.3 Other Methods
1.3 Objective and Organization of This Book
References
2 Fundamental of Group Theory
2.1 History
2.2 Group and Subgroup
2.3 Lie Group
2.4 Geometry in Nonrelativistic Mechanics
2.4.1 The Projective Space and Group
2.4.2 Affine Space and Group
2.4.3 Euclidean Affine Space and Group
3 Rotation and Displacements of Rigid Body
3.1 Vector Products and Algebra
3.2 Rotation of Vectors
3.3 Operator of Displacement
3.4 Axis of a Finite Screw Motion
3.5 Lie Subalgebras
3.6 The Displacement Lie Subgroups
4 Lie Group Based Method for Type Synthesis of Parallel Mechanisms
4.1 Kinematic Pairs and Chains
4.2 Composition of Kinematic Bonds
4.3 Displacement Subgroup of Primitive Mechanical Generators
4.4 Intersection of Kinematic Bonds
4.5 Procedures of Type Synthesis
4.6 Summary
5 Type Synthesis of 5-DOF 3R2T Parallel Mechanism
5.1 Kinematic Bond Between the Base and the Moving Platform
5.2 Limb Kinematic Bonds
5.3 Mechanical Generators of Limb Kinematic Bonds
5.3.1 Mechanical Generators of {T(Pvw)}{S(N)}
5.3.2 Mechanical Generators of {G(u)}{S(N)}
5.3.3 Mechanical Generators of {G2(u)}{S(N)} and {G(u)){S2(N)}
5.3.4 Generation of 2-DOF Joints
5.4 Generation of Mechanisms
5.5 Input Selection Method
5.6 Summary
6 Type Synthesis of 4-DOF 2R2T Parallel Mechanisms
6.1 Kinematic Bond Between the Base and the Moving Platform
6.2 Limb Kinematic Bond and a Configurable Platform
6.3 Mechanical Generators of Limb Kinematic Bonds
6.4 Generation of Parallel Mechanisms
6.4.1 Conventional Parallel Mechanisms
6.4.2 Parallel Mechanisms with a Configurable Platform
6.5 Summary
7 Type Synthesis of 4-DOF Parallel Mechanisms with Bifurcation of Schoenflies Motion
