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Parallel Mechanisms and Robots

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Book cover Springer Handbook of Robotics

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 to presenting the fundamental formulations and techniques used in their analysis.

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Abbreviations

CCT:

conservative congruence transformation

DOF:

degree of freedom

STS:

superior temporal sulcus

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Authors and Affiliations

  1. INRIA Sophia-Antipolis, 2004 Route des Lucioles, 06902, Sophia-Antipolis, France

    Jean-Pierre Merlet

  2. Departement de Genie Mecanique, Université Laval, G1K 7P4, Quebec, QC, Canada

    Clément Gosselin Prof

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  1. Jean-Pierre Merlet
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  2. Clément Gosselin Prof
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  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

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Merlet, JP., Gosselin, C. (2008). Parallel Mechanisms and Robots. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_13

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  • DOI: https://doi.org/10.1007/978-3-540-30301-5_13

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