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 introduces a new metamorphic parallel mechanism based on a reconfigurable
revolute (rR) joint and the mechanism consists of three rRPS (rR joint-prismatic joint …

Recent works introduced topology optimization in the design of robots, but the proposed
methodologies led to a local optimization of the performance. Moreover, most of …

Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their
accuracy and high payload. However, there are configurations within the workspace named …

Reconfigurable robots can be defined as a group of robots that can have different
geometries, thus obtaining different structures derived from the basic one, having different …

It is known that a parallel manipulator at a singular configuration can gain one or more
degrees of freedom and become uncontrollable, that is, it might not reproduce a stable …

In order to increase the reachable workspace of parallel robots, a promising solution
consists of the definition of optimal trajectories that ensure the non-degeneracy of the …

Reconfigurable parallel mechanisms were first discovered in response to the growing
demand for flexible and adaptive systems in various fields. Unlike traditional mechanisms …

The small workspace and complicated singularities severely limit the application of parallel
manipulators. The methodology of redundancy is commonly used to eliminate singularity …

ABSTRACT A closed-loop structure composed of multiple identical branches is a typical
feature for parallel mechanisms. The number of joints (including active and passive ones) is …