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.

Book Description

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.

Table of Contents

• Control of Cable Robots for Construction Applications
• Cartesian Parallel Manipulator Modeling, Control and Simulation
• Optimal Design of Parallel Kinematics Machines with 2 Degrees of Freedom
• The Analysis and Application of Parallel Manipulator for Active Reflector of FAST
• A Reconfigurable Mobile Robots System Based on Parallel Mechanism
• Hybrid Parallel Robot for the Assembling of ITER
• Architecture Design and Optimization of an On-the-Fly Reconfigurable Parallel Robot
• A Novel 4-DOF Parallel Manipulator H4
• Human Hand as a Parallel Manipulator
• Mobility of Spatial Parallel Manipulators
• Dynamics of Hexapods with Fixed-Length Legs
• Size-adapted Parallel and Hybrid Parallel Robots for Sensor Guided Micro Assembly
• Dynamic Parameter Identification for Parallel Manipulators
• Quantifying and Optimizing Failure Tolerance of a Class of Parallel Manipulators
• Dynamic Model of a 6-dof Parallel Manipulator Using the Generalized Momentum Approach
• Redundant Actuation of Parallel Manipulators
• Wrench Capabilities of Planar Parallel Manipulators and their Effects Under Redundancy
• Robust, Fast and Accurate Solution of the Direct Position Analysis of Parallel Manipulators by Using Extra-Sensors
• Kinematic Modeling, Linearization and First-Order Error Analysis
• Certified Solving and Synthesis on Modeling of the Kinematics. Problems of Gough-Type Parallel Manipulators with an Exact Algebraic Method
• Advanced Synthesis of the DELTA Parallel Robot for a Specified Workspace
• Feasible Human-Spine Motion Simulators Based on Parallel Manipulators

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