Robot mechanism topological structure theory

Author: Yang Tingli
Publisher:
Publish Date: 2004-03-01
Features: This book introduces a systematic theory and effective methods for the topological structure design of robotic mechanisms, along with their applications. The content has the following characteristics:
1. The topological structure design of mechanisms is carried out from the perspective of the overall function of the robot. It not only considers the kinematics and dynamics requirements of the mechanism, such as motion determinism, motion output characteristics, and the complexity of kinematic and dynamic problems, but also takes into account the requirements of control systems and drive systems, such as control decoupling and the selectivity of actuator positions.
2. Based on an in-depth and systematic revelation of the intrinsic connections and regularities between the topological structure of mechanisms and their functions, a mathematical model for the topological design of mechanisms is established, reducing the empirical factors in the design process and developing a systematic theory and method for creating new mechanisms based on functionality. This also facilitates the establishment of a unified model for the study of mechanism topological structures, kinematics, and dynamics, gradually making it a discipline with more rigorous theory and more effective methods.
3. Topological synthesis is conducted for parallel mechanisms with degrees of freedom ranging from 3 to 6 and corresponding to 10 different motion output characteristic matrices. Numerous new mechanisms are discovered, among which the high-performance ones have applied for more than 20 national invention patents (including over 100 new mechanisms), with all of them authorized in 2001. This book is the first academic monograph in both China and abroad to systematically elaborate on the theory, methods, and applications of robot mechanism topological structure design. It is suitable for reading by university teachers and graduate students in relevant fields, as well as for reference by engineering technicians engaged in mechanical design and robotic research.