A new assessment of singularities of parallel kinematic chains
IEEE Transactions on Robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
1T2R parallel mechanisms without parasitic motion
IEEE Transactions on Robotics
Portable multi-axis CNC: a 3-CRU decoupled parallel robotic manipulator
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Workspace analysis of 5-PRUR parallel mechanisms (3T2R)
Robotics and Computer-Integrated Manufacturing
Topological design of weakly-coupled 3-translation parallel robots based on hybrid-chain limbs
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
A branch and prune algorithm for the computation of generalized aspects of parallel robots
CP'12 Proceedings of the 18th international conference on Principles and Practice of Constraint Programming
Parallel Architecture Manipulators for Use in Masticatory Studies
International Journal of Intelligent Mechatronics and Robotics
Robotics and Computer-Integrated Manufacturing
Robotics and Autonomous Systems
Singularity analysis and detection of 6-UCU parallel manipulator
Robotics and Computer-Integrated Manufacturing
On the maximal singularity-free ellipse of planar 3-RP R parallel mechanisms via convex optimization
Robotics and Computer-Integrated Manufacturing
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This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), which is a key issue in the creative design of a wide variety of innovative devices based on PMs such as parallel manipulators, parallel kinematic machines (machine tools), motion simulators, haptic devices, micro-manipulators, and nano-manipulators. Type synthesis of PMs refers to finding all the types of PMs realizing a specified motion requirement. This book covers the classification of PMs and an efficient method for the type synthesis of PMs and also provides a large number of PMs ready to be used in practical applications. The synthesis approach is based on the concept of virtual chain and the elementary notions of screw theory. Using the proposed approach, families of PMs are constructed from a set of compositional units. The approach is conceptually simple and easy to use. A general procedure for the mobility analysis of PMs is also presented in order to facilitate the understanding of any architecture of PMs. The prerequisite for this book is basic knowledge on linear algebra and kinematics. This book is appropriate for researchers, developers, engineers and graduate students with interests in robotics, creative mechanism design and screw theory.