Merlet, J-P.; Gosselin, C.; Huang, T.

doi:/10.1007/978-3-319-32552-1_18

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Parallel mechanisms

Merlet, J-P.; Gosselin, C.; Huang, T. (2016). Parallel mechanisms, in: Siciliano, B. et al. Springer handbook of robotics. pp. 443-462. https://dx.doi.org/10.1007/978-3-319-32552-1_18

In: Siciliano, B.; Khatib, O. (Ed.) (2016). Springer handbook of robotics. Second edition. Springer Verlag: Berlin. ISBN 978-3-319-32550-7; e-ISBN 978-3-319-32552-1. LXXVI, 2227 pp. https://dx.doi.org/10.1007/978-3-319-32552-1, more

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Merlet, J-P. Gosselin, C. Huang, T.

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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