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Springer Handbook of Robotics pp 443–462Cite as

Parallel Mechanisms

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Abstract

This chapter presents an introduction to the kinematics and dynamics of parallel mechanisms, also referred to as parallel robots. As opposed to classical serial manipulators, the kinematic architecture of parallel robots includes closed-loop kinematic chains. As a consequence, their analysis differs considerably from that of their serial counterparts. This chapter aims at presenting the fundamental formulations and techniques used in their analysis.

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Abbreviations

3-D:

three-dimensional

CCT:

conservative congruence transformation

DOF:

degree of freedom

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Author information

Authors and Affiliations

  1. INRIA Sophia-Antipolis, 2004 Route des Lucioles, 06560, Sophia-Antipolis, France

    Jean-Pierre Merlet

  2. Department of Mechanical Engineering, Laval University, 1065 Avenue de la Médecine, QC G1K 7P4, Quebec, Canada

    Clément Gosselin

  3. Department of Mechanical Engineering, Tianjin University, 92 Weijin Road, Naukai, 300072, Tianjin, China

    Tian Huang

Authors
  1. Jean-Pierre Merlet
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  2. Clément Gosselin
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  3. Tian Huang
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Corresponding author

Correspondence to Jean-Pierre Merlet .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

:

3-DOF high-speed 3-RPS parallel robot available from http://handbookofrobotics.org/view-chapter/18/videodetails/43

:

6-DOF cable-suspended robot available from http://handbookofrobotics.org/view-chapter/18/videodetails/44

:

CoGiRo available from http://handbookofrobotics.org/view-chapter/18/videodetails/45

:

Parallel 5R robot available from http://handbookofrobotics.org/view-chapter/18/videodetails/46

:

Diamond available from http://handbookofrobotics.org/view-chapter/18/videodetails/47

:

6-DOF statically balanced parallel robot available from http://handbookofrobotics.org/view-chapter/18/videodetails/48

:

3-DOF dynamically balanced parallel robot available from http://handbookofrobotics.org/view-chapter/18/videodetails/49

:

IPAnema available from http://handbookofrobotics.org/view-chapter/18/videodetails/50

:

Par2 robot available from http://handbookofrobotics.org/view-chapter/18/videodetails/51

:

Quadrupteron robot available from http://handbookofrobotics.org/view-chapter/18/videodetails/52

:

R4 robot available from http://handbookofrobotics.org/view-chapter/18/videodetails/53

:

Tripteron robot available from http://handbookofrobotics.org/view-chapter/18/videodetails/54

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Merlet, JP., Gosselin, C., Huang, T. (2016). Parallel Mechanisms. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_18

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_18

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