Parallel mechanisms are used increasingly often as modular subsystem units in various
robots and man-machine interfaces for their superior stiffness, payload-to-weight ratio and …

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

The forward-displacement analysis of spherical parallel robots (SPRs) is revisited. A robust
approach, based on the input–output (I/O) equation of spherical four-bar linkages, is …

In this article, the mechanical design and analysis of a novel three-legged, agile robot with
passively compliant 4-degrees-of-freedom legs, comprising a hybrid topology of serial …

Continuum parallel robots (CPRs) comprise several flexible beams connected in parallel to
an end-effector. They combine the inherent compliance of continuum robots with the high …

This paper introduces a new method for workspace boundary determination on general
structure manipulators. The method uses a branch-and-prune technique to isolate a set of …

This paper presents a new methodology for modeling and simulation of spherical parallel
manipulators (SPM) in CoppeliaSim (V-REP) robot simulator software. Using a SPM with …

This paper deals with the design and the analysis of a spherical parallel manipulator (SPM)
for a haptic minimally invasive surgery application. First the medical task was characterized …

Spherical parallel manipulators (SPMs) with revolute joints work under the condition that all
joint axes intersect at the manipulator center, where the mobile platform (MP) center is …