Smart Devices and Machines for Advanced Manufacturing

Cover -- TOC$Contents -- List of Contributors -- CH$1 Appropriate Design of Parallel Manipulators -- 1.1 Introduction -- 1.2 Understanding End-user Wishes and Performance Indices -- 1.2.1 Establishing the Required Performances -- 1.2.2 Performance Indices -- 1.2.3 Indices Calculation -- 1.3 Structural Synthesis -- 1.4 Dimensional Synthesis -- 1.4.1 Choosing Design Parameters -- 1.4.2 Design Methods -- 1.4.3 The Atlas Approach -- 1.4.4 Cost Function Approach -- 1.4.5 Other Design Methodologies Based on Optimisation -- 1.4.6 Exact Design Methodologies -- 1.5 The Parameter Space Approach -- 1.5.1 Parameter Space -- 1.5.2 Principle of the Method -- 1.5.3 Finding Allowed Regions -- 1.5.4 Finding Allowed Regions with Interval Analysis -- 1.5.5 Search for Appropriate Robots -- 1.5.6 Design Examples -- 1.6 Other Design Approaches -- 1.6.1 Design for Reliability -- 1.6.2 Design for Control -- 1.7 Conclusions -- References -- CH$2 Gravity Compensation, Static Balancing and Dynamic Balancing of Parallel Mechanisms -- 2.1 Introduction and Definitions -- 2.2 Mathematical Conditions for Balancing -- 2.3 Static Balancing -- 2.3.1 Static Balancing of a Planar Four-bar Linkage -- 2.3.2 Spatial 6-dof Parallel Mechanism -- 2.4 Gravity Compensation -- 2.5 Dynamic Balancing -- 2.5.1 Dynamic Balancing of Planar Four-bar Linkages -- 2.5.2 Synthesis of Reactionless Multi-dof Mechanisms -- 2.5.3 Synthesis of Reactionless Parallel 3-dof Mechanisms -- 2.5.4 Synthesis of Reactionless Parallel 6-dof Mechanisms -- 2.6 Conclusions -- References -- CH$3 A Unified Methodology for Mobility Analysis Based on Screw Theory -- 3.1 Introduction -- 3.2 Basic Screw Theory and Mobility Methodology -- 3.2.1 Dependency and Reciprocity of Screws -- 3.2.2 Modified Gr??bler-Kutzbach Criterion -- 3.2.3 Four Key Techniques -- 3.3 Mobility Analysis of Single-loop Mechanisms -- 3.3.1 The Bennett Mechanism -- 3.3.2 The Goldberg Mechanism -- 3.3.3 The Bricard Mechanism with a Symmetric Plane -- 3.4 Mobility Analysis of Parallel Mechanisms -- 3.4.1 4-DOF 4-URU Mechanism -- 3.4.2 The CPM Mechanism -- 3.4.3 The 4-DOF 1-CRR+3-CRRR Parallel Mechanism -- 3.4.4 DELTA Robot -- 3.4.5 H4 Manipulator -- 3.5 Discussions -- 3.6 Conclusions -- References -- CH$4 The Tau PKM Structures -- 4.1 Introduction -- 4.2 Non-symmetrical PKM Structures -- 4.3 The SCARA Tau PKM -- 4.4 The Gantry Tau PKM -- 4.5 The Reconfigurable Gantry Tau PKM -- 4.5.1 Kinematics and Workspace -- 4.5.2 Calibration -- 4.5.3 Stiffness -- 4.5.4 Mechanical Bandwidth -- 4.6 Industrial Potential of PKMs based on Tau Structures -- 4.6.1 Performance Advantages -- 4.6.2 Life-cycle Cost Advantages -- 4.6.3 Relieving People from Bad Working Conditions -- 4.7 Conclusions -- References -- CH$5 Layout and Force Optimisation in Cable-driven Parallel Manipulators -- 5.1 Intro.