This paper presents a compilation of previous studies on the Stewart platform, which is a
class of six degree of freedom parallel manipulators. The abstraction of a parallel …

Parallel robots are closed-loop mechanisms presenting very good performances in terms of
accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a …

This book starts with a short recapitulation on basic concepts, common to any types of robots
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …

In this paper, we present a general method to calculate the inverse and direct dynamic
models of parallel robots. The models are expressed in a closed form by a single equation in …

The dimensional synthesis remains a capital phase in the optimal design of the parallel
robots. In this article, we propose a methodology of the dimensional synthesis where the …

A novel redundantly actuated parallel manipulator with multiple potential actuation modes is
proposed in this paper to conquer the drawbacks of the traditional planar 5R parallel …

Abstract Structure modeling and optimizing are important topics for the design and control of
robots. In this paper, we propose a process for modeling robots and optimizing their …

This paper presents an approach for the optimal design of a 2-DOF translational pick-and-
place parallel robot. By taking account of the normalized inertial and centrifugal/Coriolis …

This paper deals with the optimal design of a 4-DOF SCARA type (three translations and
one rotation) parallel robot using dynamic performance indices and angular constraints …

Based on the Hedge Algebras (HA) methodology, this paper presents a method for
managing the trajectory of a delta robot. This technique is easily applied to existing devices …