A review of the criteria to be used for designing parallel manipulators with lower mobility (LM-PMs) is presented. This chapter attempts to provide a unified frame for the study of this type of machines together with a critical analysis of the vast literature about them. The chapter starts with the classification of the LM-PMs, and, then, analyzes the specific subjects involved in the functional design of these machines. Special attention is paid to the definition of the limb topology, the singularity analysis and the discussion of the characteristics of some machines.
Parallel manipulators with lower mobility
DI GREGORIO, Raffaele
2007
Abstract
A review of the criteria to be used for designing parallel manipulators with lower mobility (LM-PMs) is presented. This chapter attempts to provide a unified frame for the study of this type of machines together with a critical analysis of the vast literature about them. The chapter starts with the classification of the LM-PMs, and, then, analyzes the specific subjects involved in the functional design of these machines. Special attention is paid to the definition of the limb topology, the singularity analysis and the discussion of the characteristics of some machines.File in questo prodotto:
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