TY  - CHAP
AU  - Luc Rolland
ED  - Huapeng Wu
Y1  - 2008-04-01
PY  - 2008
T1  - Certified Solving and Synthesis on Modeling of the Kinematics. Problems of Gough-Type Parallel Manipulators with an Exact Algebraic Method
N2  - 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.
BT  - Parallel Manipulators
SP  - Ch. 9
UR  - https://doi.org/10.5772/5431
DO  - 10.5772/5431
SN  - 
PB  - IntechOpen
CY  - Rijeka
Y2  - 2024-05-04
ER  -