Robotics is at an infertile stage of technology that crosses usual engineering limitations. The
understanding the difficulty of robots and their application need knowledge of electrical …

Various 3-UPU architectures feature two rigid bodies connected to one another through
three kinematic chains (limbs) of universal–prismatic–universal (UPU) type. They were first …

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 describes the design of a robot head, developed in the framework of the
RobotCub project. This project goals consists on the design and construction of a humanoid …

This paper presents a five degrees-of-freedom (DoF) low inertia shoulder exoskeleton. This
device is comprised of two novel technologies. The first is 3DoF spherical parallel …

Using a novel method for the formulation of Jacobian matrices, this paper quantitatively
compares the dexterity of spatial complex degree of freedom parallel manipulators for the …

In this paper, we propose a new spherical parallel robot for celestial orientation, and
rehabilitation applications (TV satellite dish, tracking systems, solar panels, cameras …

The static analysis of a parallel wrist, known as the 3-universal-prismatic-universal (UPU)
wrist, is presented, and the 3-UPU wrist singularity conditions are interpreted from a statics …

In this paper, a symmetric 3-UPU (U and P represent universal and prismatic joints,
individually) parallel mechanism and its variant mechanism under different geometric and …

This paper presents a new kinematics model for linear-actuated symmetrical spherical
parallel manipulators (LASSPMs) which are commonly used considering their symmetrical …