Open access peer-reviewed Edited Volume

Parallel Manipulators

towards New Applications

In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications.

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Parallel Manipulatorstowards New ApplicationsEdited by Huapeng Wu

Published: April 1st 2008

DOI: 10.5772/61

ISBN: 978-3-902613-40-0

eBook (PDF) ISBN: 978-953-51-5828-8

Copyright year: 2008

Books open for chapter submissions

75865 Total Chapter Downloads

55 Crossref Citations

82 Web of Science Citations

113 Dimensions Citations


Open access peer-reviewed

1. Control of Cable Robots for Construction Applications

By Alan Lytle, Fred Proctor and Kamel Saidi


Open access peer-reviewed

2. Dynamic Parameter Identification for Parallel Manipulators

By Vicente Mata, Nidal Farhat, Miguel Diaz-Rodriguez, Angel Valera and Alvaro Page


Open access peer-reviewed

3. Quantifying and Optimizing Failure Tolerance of a Class of Parallel Manipulators

By Chinmay S. Ukidve, John E. McInroy and Farhad Jafari


Open access peer-reviewed

4. Dynamic Model of a 6-dof Parallel Manipulator Using the Generalized Momentum Approach

By Antonio M. Lopes and Fernando Almeida


Open access peer-reviewed

5. Redundant Actuation of Parallel Manipulators

By Andreas Mueller


Open access peer-reviewed

6. Wrench Capabilities of Planar Parallel Manipulators and their Effects Under Redundancy

By Flavio Firmani, Scott B. Nokleby, Ronald P. Podhorodeski and Alp Zibil


Open access peer-reviewed

7. Robust, Fast and Accurate Solution of the Direct Position Analysis of Parallel Manipulators by Using Extra-Sensors

By Rocco Vertechy and Vincenzo Parenti-Castelli


Open access peer-reviewed

8. Kinematic Modeling, Linearization and First-Order Error Analysis

By Andreas Pott and Manfred Hiller


Open access peer-reviewed

9. Certified Solving and Synthesis on Modeling of the Kinematics. Problems of Gough-Type Parallel Manipulators with an Exact Algebraic Method

By Luc Rolland


Open access peer-reviewed

10. Advanced Synthesis of the DELTA Parallel Robot for a Specified Workspace

By M.A. Laribi, L. Romdhane and S. Zeghloul


Open access peer-reviewed

11. Size-adapted Parallel and Hybrid Parallel Robots for Sensor Guided Micro Assembly

By Kerstin Schoettler, Annika Raatz and Juergen Hesselbach


Open access peer-reviewed

12. Dynamics of Hexapods with Fixed-Length Legs

By Rosario Sinatra and Fengfeng Xi


Open access peer-reviewed

13. Cartesian Parallel Manipulator Modeling, Control and Simulation

By Ayssam Elkady, Galal Elkobrosy, Sarwat Hanna and Tarek Sobh


Open access peer-reviewed

14. Optimal Design of Parallel Kinematics Machines with 2 Degrees of Freedom

By Sergiu-Dan Stan, Vistrian Maties and Radu Balan


Open access peer-reviewed

15. The Analysis and Application of Parallel Manipulator for Active Reflector of FAST

By Xiao-qiang Tang and Peng Huang


Open access peer-reviewed

16. A Reconfigurable Mobile Robots System Based on Parallel Mechanism

By Wei Wang, Houxiang Zhang, Guanghua Zong and Zhicheng Deng


Open access peer-reviewed

17. Hybrid Parallel Robot for the Assembling of ITER

By Huapeng Wu, Heikki Handroos and Pekka Pessi


Open access peer-reviewed

18. Architecture Design and Optimization of an On-the-Fly Reconfigurable Parallel Robot

By Allan Daniel Finistauri, Fengfeng (Jeff) Xi and Brian Petz


Open access peer-reviewed

19. A Novel 4-DOF Parallel Manipulator H4

By Jinbo Wu and Zhouping Yin


Open access peer-reviewed

20. Human Hand as a Parallel Manipulator

By Vladimir M. Zatsiorsky ad Mark L. Latash


Open access peer-reviewed

21. Mobility of Spatial Parallel Manipulators

By Jing-Shan Zhao Fulei Chu and Zhi-Jing Feng


Open access peer-reviewed

22. Feasible Human-Spine Motion Simulators Based on Parallel Manipulators

By Si-Jun Zhu, Zhen Huang and Ming-Yang Zhao


Edited Volume and chapters are indexed in

  • Worldcat
  • OpenAIRE
  • Google Scholar
  • AZ ebsco
  • Base
  • CNKI

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