内容简介: 本书系统地介绍了少自由度并联机构构型综合的李群方法,内容包括研究背景的综述、相关基础理论的介绍、构型综合的方法步骤、各类少自由度并联机构的设计实例。基础理论部分给出了群论的基本知识,以及刚体运动的群表示方法,为后续章节提供了理论基础。第四章给出了李群方法用于构型综合的具体步骤,为各类少自由度并联机构的构型综合提供了统一的框架。 目录: 1 Introduction 1.1 History and Application of Parallel Mechanisms 1.2 Type Synthesis of Parallel Mechanisms 1.2.1 The Motion-Based Methods 1.2.2 Constraint-Based Methods 1.2.3 Other Methods 1.3 Objective and Organization of This Book References 2 Fundamental of Group Theory 2.1 History 2.2 Group and Subgroup 2.3 Lie Group 2.4 Geometry in Nonrelativistic Mechanics 2.4.1 The Projective Space and Group 2.4.2 Affine Space and Group 2.4.3 Euclidean Affine Space and Group 3 Rotation and Displacements of Rigid Body 3.1 Vector Products and Algebra 3.2 Rotation of Vectors 3.3 Operator of Displacement 3.4 Axis of a Finite Screw Motion 3.5 Lie Subalgebras 3.6 The Displac ...
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