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Structure and Type Synthesis of Parallel Manipulators

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Robotic Systems for Handling and Assembly

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 67))

Abstract

Parallel robots have received increasing attention from researchers and developing engineers over the past decade, due to their inherent advantages in terms of velocity, stiffness and accuracy. However, choosing the best mechanism with optimal dimensions for best performance is a challenging and complex task. Depending on the application, different performance criteria have to be taken into account following contradictory aims. The main idea of this paper is to present the fundamentals for structure synthesis as well as a power-based optimization of parallel robots according to given application requirements, with the focus on the dynamic performance for high speed assembly tasks.

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Authors and Affiliations

  1. Institute of Production Automation and Machine Tools, Technische Universität Braunschweig, Langer Kamp 19b, 38106, Braunschweig, Germany

    Matthias Frindt, Mathias Krefft & Jürgen Hesselbach

Authors
  1. Matthias Frindt
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  2. Mathias Krefft
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  3. Jürgen Hesselbach
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Editor information

Editors and Affiliations

  1. Institute of Machine Tools and Production Technology, Technische Universität Braunschweig, Langer Kamp 19b, 38106, Braunschweig, Germany

    Daniel Schütz

  2. Institute for Robotics and Process Control, Technische Universität Braunschweig, Mühlenpfordtstraße 23, 38106, Braunschweig, Germany

    Friedrich M. Wahl

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Frindt, M., Krefft, M., Hesselbach, J. (2010). Structure and Type Synthesis of Parallel Manipulators. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_2

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  • DOI: https://doi.org/10.1007/978-3-642-16785-0_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16784-3

  • Online ISBN: 978-3-642-16785-0

  • eBook Packages: EngineeringEngineering (R0)

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