Although many industrial applications have adopted parallel robots, few textbooks introduce
their analysis in terms of dynamics and control. Filling the gap, this book combines the …

The forward kinematics is the basis of the design and control of the parallel robots. This
paper aims to provide an efficient solution to the forward kinematics of a class of six-degrees …

A new paradigm is introduced for solving the forward kinematics of general Stewart
platforms in real-time. It consists of an off-line preprocessing phase and an online realtime …

In this work the forward position analysis (FPA) of 3-RS structures (R, S, P and C= revolute,
spherical, prismatic and cylindrical, respectively) is carried out applying recursively the …

提出了一种研究6-3 Stewart 并联机构运动学正解问题的新方法. 通过分析动平台位姿变量之间
的耦合关系, 增加了一些有用的信息, 得到了用于解决这一问题的11 个相容方程 …

Closed-form direct and inverse kinematics of a new three-degree-of-freedom (DOF) parallel
manipulator with inextensible limbs and base-mounted actuators are presented. The …

The forward kinematics of the general Stewart mechanism is studied and a fast numerical
method is presented. Quaternion is utilized to model the forward kinematics and the …

This study presents a family of novel translational parallel mechanisms (TPMs) with single-
loop topological structures. The proposed mechanism consists of only revolute and prismatic …

In this paper, a new algorithm for the forward displacement analysis of a general 6‐3 Stewart
platform (6‐3SPS) based on conformal geometric algebra (CGA) is presented. First, a 6 …

One of the spatial external fixators, which can provide six degrees of freedom, three rotations
and three translations, in handling extremity fractures and deformity-correction cases, is the …