Topology Design of Robot Mechanisms

Topology Design of Robot Mechanisms

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This book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms.The main original theoretical contributions of this book include:A. Three basic concepts· The "geometrical constraint type of axes" is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) an...