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 …

The attitude closed-loop control of the parallel platform in the working space needs to
determine the relationship between the pose of the top moving platform and the length of …

In this paper the authors review spherical motion generation by means of parallel
manipulators or spherical motors. The state-of-the-art of spherical-motion-generator …

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 …

Performance evaluation is one of most important issues in the analysis and design of
parallel manipulators. As the counterparts of serial robots, parallel manipulators are mostly …

This paper gives survey of the position analysis, jacobian and singularity analysis, stiffness
analysis, dynamics and applications of serial and parallel robots. Also a detailed …

Parallel mechanisms (PMs) are the systems with closed-loop chains. Since they have
advantages of compactness, high speed, high stiffness, high accuracy, high loadto-weight …

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 …

Redundant actuation of parallel manipulators can lead to internal forces without generating
end-effector forces (preload). Preload can be controlled in order to prevent backlash during …

The ship-mounted Stewart platform can accurately compensate the 6-degree-of-freedom (6-
DOF) wave motion of offshore vessels to facilitate the transfer of personnel and cargoes …