Parallel robots are closed-loop mechanisms presenting very good performances in terms of
accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a …

This book contains mechanism analysis and synthesis. In mechanism analysis, a mobility
methodology is first systematically presented. This methodology, based on the author's …

A spherical parallel manipulator (SPM) refers to a 3-DOF (degree-of-freedom) parallel
manipulator generating 3-DOF spherical motion. A method is proposed for the type …

This paper introduces a 3-DOF translational parallel manipulator called Cartesian Parallel
Manipulator (CPM). The manipulator consists of a moving platform that is connected to a …

There are usually several motion patterns having the same degrees of freedom (DOF). For
example, planar motion, spherical motion, and spatial translation are motion patterns with 3 …

The theory of reciprocal screws is used for the enumeration of the feasible limb structures of
a class of 3-degree-of-freedom (DOF) rotational parallel manipulators. Geometric conditions …

A spherical parallel manipulator (also called an orientational parallel manipulator or
rotational parallel manipulator) refers to a threedegreeof-freedom (3-DoF) parallel …

This paper presents a comparison study of the well-conditioned workspace and stiffness
properties of two 3-degree-of-freedom (DOF) parallel manipulators, one with three …

In this paper we present a novel pointing parallel mechanism with fully decoupled degrees
of freedom. The mechanism consists of two interconnected slider-crank linkages, each one …

This paper presents a methodology for the analytical determination and representation of
the workspace boundaries of symmetrical spherical parallel mechanisms (SPMs). The …