Parallel robots
The book presents the state-of-the-art of research and application of parallel robots. It is an extended and updated version of the French book ``Les robot parallèles (1997), and is the first English research monograph on this active field of research. The name parallel robots stands for a special kind of multi-loop, parallel acting mechanical devices, which are superior to serial robots, e.g. with respect to accuracy, rigidity and load-to-weight ratio. The introduction contains a characterization of serial robots and other architectures of robots. Then the basics of parallel robots (definitions, degrees of freedom and degrees of parallelism) are given. In chapter two many different designs are listed and evaluated. For most of the actually built designs, the author gives Internet references for further information. Chapter two also introduces the Jacobian of manipulator, which is an operator that transforms the instantaneous twist into joint velocities. Inverse kinematics and methods for calibration are dealt with. A large chapter is devoted to direct kinematics. In the direct kinematics, positions and orientations of the end-effector are asked for when the geometry and joint parameters are given. The author develops in great detail algorithms and mathematical methods for various designs, starting from a planar 3-RPR mechanism to the most general case of spatial six-legged platform. In singular configurations the manipulator looses stiffness and gains an infinitesimal degree of freedom. Line geometric methods and interval analysis are applied to compute singular positions. The author discusses various numerical problems, and mentions pathological designs and singularity free path planning. In a chapter on workspace one can find a thorough analysis of different definitions of workspace and many examples for which a detailed representation of the workspace is given. The last three chapters deal with velocity and acceleration properties of manipulators, and present static and dynamic methods to design a parallel manipulator for a prescribed task (or set of tasks). In the references one can find more than 600 entries, and additionally the author has compiled a long list of relevant web sites. On balance, the book can be be considered as a personal, excellent and exhaustive overview of the state-of-the-art by one of the leading researchers in the field of parallel robots. Who ever wants to do research on parallel manipulators has to read this book first!
- Parallel robots.
- scientific article; zbMATH DE number 1269504
- Dynamics of parallel robots. From rigid bodies to flexible elements
- Structural synthesis of parallel robots. Part 3: Topologies with planar motion of the moving platform
- Jacobian, manipulability, condition number and accuracy of parallel robots
- PAMINSA: a new family of partially decoupled parallel manipulators
- Kinematic design of a family of 6-DOF partially decoupled parallel manipulators
- Power requirement comparison in the 3-RPR planar parallel robot dynamics
- Topological and kinematic singularities for a class of parallel mechanisms
- Modeling and performance evaluation of a flexure-based \(XY\) parallel micromanipulator
- Mechanics of Turin parallel robot.
- Approximating a solution set of nonlinear inequalities
- Vision/force control of parallel robots
- Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control
- Degeneracy conditions of the dynamic model of parallel robots
- Affine spinor decomposition in three-dimensional affine geometry
- Dynamics equations of a mobile robot provided with caster wheel
- Prototype design of a translating parallel robot
- Mapping similarity between parallel and serial architecture kinematics
- A branch and prune algorithm for the computation of generalized aspects of parallel robots
- Stiffness analysis for a 3-PUU parallel kinematic machine
- Accuracy analysis of 3-DOF planar parallel robots
- Non-singular assembly-mode changing motions for 3-R{\b P}R parallel manipulators
- Dynamics modelling of hexaslides using the decoupled natural orthogonal complement matrices
- Parallel robots.
- Dynamics of a six degrees-of-freedom parallel robot actuated by three two-wheel carts
- Mobility and spatiality of parallel robots revisited via theory of linear transformations
- Robust nonlinear task space control for 6 DOF parallel manipulator
- The weighted Moore-Penrose generalized inverse and the force analysis of overconstrained parallel mechanisms
- Parallel robots with unconventional joints. Kinematics and motion planning
- Studies regarding the alternate simulation techniques for machine toolsand industrial robots
- Trajectory planning of parallel kinematic manipulators for the maximum dynamic load-carrying capacity
- On the regularity of the inverse Jacobian of parallel robots
- Direct singularity closeness indexes for the hexa parallel robot
- Geometrical conditions for the design of partial or full isotropic hexapods
- Jacobian, manipulability, condition number and accuracy of parallel robots
- Kinematics of a parallel-serial (Hybrid) manipulator
- Generic singular configurations of linkages
- scientific article; zbMATH DE number 1304542 (Why is no real title available?)
- scientific article; zbMATH DE number 1094616 (Why is no real title available?)
- A multi-level optimization methodology for determining the dextrous workspaces of planar parallel manipulators
- Classification of direct kinematics to planar generalized Stewart platforms
- Intelligent active force control of a 3-RRR parallel manipulator incorporating fuzzy resolved acceleration control
- Complete kinematics of a serial-parallel manipulator formed by two Tricept parallel manipulators connected in serials
- Configuration spaces of spatial linkages: Taking Collisions Into Account
- Dynamics of parallel robots. From rigid bodies to flexible elements
- Offset Trajectory Planning of Robot End Effector and its Jerk with Curvature Theory
- Preface: Recent progress and novel applications of parallel mechanisms
- Real-time algorithm, based on two extra sensors, for monitoring platform's orientation of underactuated parallel wrists
- Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism
- Optimization-based approach to path planning for closed chain robot systems
- Optimal synthesis for a continuous prescribed dexterity interval of a 3-dof parallel planar manipulator for different prescribed output workspaces
- Design procedure for cuspidal parallel manipulators
- Numerical factorization of multivariate complex polynomials
- Symmetric configuration spaces of linkages
- Inverse dynamics analysis for a 3-PRS parallel mechanism based on a special decomposition of the reaction forces
- Singularity analysis of parallel manipulators using constraint plane method
- Dynamics analysis, offline-online tuning and identification of base inertia parameters for the 3-DOF delta parallel robot under insufficient excitations
- Architectural singularities of a class of pentapods
- Parallel Manipulators of Robots
- Dynamics of Parallel Robots
- Cubical modular robots
- Inverse dynamics of the HALF parallel manipulator with revolute actuators
- Increase of singularity-free zones in the workspace of parallel manipulators using mechanisms of variable structure
- On the correction capability of a deployed tape-spring hexapod
- A new framework for sharp and efficient resolution of NCSP with manifolds of solutions
- PD control with gravity compensation for hydraulic 6-DOF parallel manipulator
- Accuracy analysis of 3T1R fully-parallel robots
- Relationship among input-force, payload, stiffness and displacement of a 3-DOF perpendicular parallel micro-manipulator
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