Parallel manipulators are generally associated with high speed, stiffness, and repeatability.
Nonetheless, after decades of development, their industrial uptake is still limited when …

This paper presents an overview of the literature on kinematic and calibration models of
parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel …

Performance evaluation is one of most important issues in the analysis and design of
parallel manipulators. As the counterparts of serial robots, parallel manipulators are mostly …

The paper presents a methodology to enhance the stiffness analysis of serial and parallel
manipulators with passive joints. It directly takes into account the influence of external and …

The paper presents a new stiffness modeling method for overconstrained parallel
manipulators with flexible links and compliant actuating joints. It is based on a …

This paper describes the adaptive control design to solve the trajectory tracking problem of a
Delta robot with uncertain dynamical model. This robot is a fully actuated, parallel closed …

The paper presents a new structural synthesis approach of fully-isotropic translational
parallel robotic manipulators (TPMs) based on the theory of linear transformations. A TPM is …

Parallel mechanisms (PMs) are the systems with closed-loop chains. Since they have
advantages of compactness, high speed, high stiffness, high accuracy, high loadto-weight …

This book starts with a short recapitulation on basic concepts, common to any types of robots
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …

This paper addresses the general issue of optimal kinematic design of parallel mechanisms.
Optimal design is one of the most challenging issues in the field. To solve the design …