Qinchuan Li's Books

Theory of Parallel Mechanisms

By: Zhen Huang,Qinchuan Li,Huafeng Ding

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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.

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Page Count

430

Publisher

Springer Science & Business Media

Published Date

ISBN 10

9400742010

ISBN 13

9789400742017

Performance Analysis and Optimization of Parallel Manipulators

By: Qinchuan Li,Chao Yang,Lingmin Xu,Wei Ye

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Performance Analysis and Optimization of Parallel Manipulators

By: Qinchuan Li,Chao Yang,Lingmin Xu,Wei Ye

This book investigates the performance analysis and optimization design of parallel manipulators in detail. It discusses performance evaluation indices for workspace, kinematic, stiffness, and dynamic performance, single- and multi-objective optimization design methods, and ways to improve optimization design efficiency of parallel manipulators. This book collects the authors’ research results previously scattered in many journals and conference proceedings and presents them in a unified form after the methodical edition. As a result, numerous performance analyses and optimization of parallel manipulators are presented, in which the readers in the robotics community may be greatly interested. More importantly, readers can use the methods and tools introduced in this book to carry out performance evaluation and optimization of parallel manipulators by themselves. The book can provide important reference and guideline for undergraduate and graduate students, engineers, and researchers who are interested in design and application of parallel manipulators.

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Page Count

303

Publisher

Springer Nature

Published Date

ISBN 10

9819905427

ISBN 13

9789819905423

Geometric Method for Type Synthesis of Parallel Manipulators

By: Qinchuan Li,Jacques M. Hervé,Wei Ye

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Geometric Method for Type Synthesis of Parallel Manipulators

By: Qinchuan Li,Jacques M. Hervé,Wei Ye

This book focuses on the synthesis of lower-mobility parallel manipulators, presenting a group-theory-based method that has the advantage of being geometrically intrinsic. Rotations and translations of a rigid body as well as a combination of the two can be expressed and handled elegantly using the group algebraic structure of the set of rigid-body displacements. The book gathers the authors’ research results, which were previously scattered in various journals and conference proceedings, presenting them in a unified form. Using the presented method, it reveals numerous novel architectures of lower-mobility parallel manipulators, which are of interest to those in the robotics community. More importantly, readers can use the method and tool to develop new types of lower-mobility parallel manipulators independently.

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