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 letter deals with a novel flying mechanism. Inspired from parallel manipulators, this
flying robot is composed of three quadrotors linked by a rigid articulated architecture …

In this paper, the singularity of a planar mechanism with kinematic redundancy is studied.
First, the architecture of the mechanism and the concept schematic diagram for singularity …

This article addresses a new way of generating compliant trajectories for control using
movement primitives to allow physical human–robot interaction where parallel robots (PRs) …

Geometric uncertainties may jeopardize the performance of parallel manipulators, especially
during motion planning. Recent research demonstrated that, during motion planning and …

Metamorphic parallel mechanisms can change into multiple configurations with different
motion types and mobility, which consequently yield different solutions of inverse dynamics …

Planar parallel robots are appealing due to their structural simplicity, high stiffness, and
large payload capacity. One major problem is that workspace and singularity of non …

In the literature, velocity coefficients (VCs) and acceleration coefficients (ACs) were
substantially proposed for single-degree-of-freedom (single-DOF) planar mechanisms. Their …

Finding the current pose of the end-effector of a parallel robot is a problem, since its forward
geometric model generally has several solutions. Current methods to address this problem …

A special-case Grashof linkage has two singular point at which the linkage may changes
from parallelogram form into antiparallelogram form or vice versa. Whereas, at the singular …