Theory of Parallel Mechanisms (Mechanisms and Machine Science, Band 6) - Softcover

Über die Autorin bzw. den Autor

Lin Shaopei is a Professor at the Department of Civil Engineering in Shanghai Jiao Tong University. Being both graduate programs in steel structure during 1956-58 and in engineering mechanics during 1962-66 at Dalian University of Science & Technology in China, Professor Lin has more than 50 years of teaching, research and consulting experiences. He authored more than 150 papers and 5 monographs covered the fields of structural engineering, computational mechanics, artificial intelligence applications as well as system and economic analyses for engineering, etc. He is now the Director General of UK Institution of Civil Engineers (ICE) Shanghai Branch, Board Director of USA Project Management Institute (PMI) Global Accreditation Center. He is also the Fellow of ICE and Chartered Engineer of ICE. Dr.-Ing. Huang, Zhen is a Professor at the Department of Civil Engineering of Shanghai Jiao Tong University, one of the top 5 universities in China. Professor Huang graduated from Tianjin University, China in 1982 and received her Dr.-Ing. degree in Technical University of Braunschweig, Germany in 1995. She has 6 years engineering experience of design, manufacture and construction in Germany and in China. Her research interests are concrete structures, steel structures, green building material and structural systems. Professor Huang is the board member of ICE Shanghai Branch and also the dean of ICE China Training Centre. She is the Fellow of ICE, Chartered Engineer of ICE and the member of ASCE.

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This book contains mechanism analysis and synthesis.

In 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.

In 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.