This paper presents a critical review on the calculation of the mobility, the main structural
and kinematic parameter of a mechanism. We focus on a brief presentation and a critical …

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 …

In this chapter, a method for the type synthesis of parallel mechanisms (PMs) with a
specified motion pattern that can be represented by a serial virtual chain is developed based …

Type synthesis of mechanisms aims to systematically determine all possible structures for a
specific mobility requirement. Numerous methods based on different theories were …

3T1R four-degrees-of-freedom (DOF) parallel manipulators (3T1R-PMs) are the parallel
counterparts of the 4-DOF SCARA serial robots. In a 3T1R-PM, the moving platform can …

There are usually several motion patterns having the same degrees of freedom (DOF). For
example, planar motion, spherical motion, and spatial translation are motion patterns with 3 …

Mechanism synthesis is mostly dependent on the designer's experience and intuition and is
difficult to automate. This paper aims to develop a rigorous and precise geometric theory for …

Parasitic motion is a major drawback of the general 1T2R parallel mechanism (PM), where T
denotes a translation degree of freedom (DOF) and R a rotational DOF. This paper …

The 1T2R parallel manipulator (PM) without parasitic motion is important in practical
applications because the orientation of the end effector can be controlled as being a …

Flexure mechanism synthesis, however, is still a comparably difficult task. This paper aims at
exploring a simple but systematic type synthesis methodology for general flexure …