Theory of Parallel Mechanisms

pThis book contains mechanism analysis and synthesis. /ppIn mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validity�was only�proved recently, �is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its�latest developments are described.
This principle�is suitable�for kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularity�is stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented. /ppIn mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, is�introduced in detail.
Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed./p