This paper presents a state-of-the-art review of the literature on the six-degree-of-freedom
parallel manipulator commonly known as the Stewart platform. The existing studies in the …

As stated in the preface, the goal of this book is two-fold:(i) to explore the underlying
principles of kinematic geometry which are so important for an understanding of rigid body …

This paper presents the results of a detailed study of the singular configurations of 3-DOF
planar parallel mechanisms with three identical legs. Only prismatic and revolute joints are …

A methodology of using scaling factors to determine the force capabilities of non-
redundantly and redundantly-actuated parallel manipulators is presented. This methodology …

This paper introduces a novel family of singularity-free kinematically redundant planar
parallel mechanisms that have unlimited rotational capabilities. The proposed mechanisms …

In contrast to kinematic redundancy (widely studied in literature) in serial manipulators, the
natural choice should be force (static) redundancy in parallel manipulators. In this paper, the …

The primary objective of this dissertation is to demonstrate the incontestable effectiveness of
geometric methods to the design and analysis of parallel mechanisms. To this end, it is …

This study focuses on topology optimisation and singularity analysis of a 3-SPS parallel
manipulator with three identical limbs made of spherical+ prismatic+ spherical joints, and a …

At drive singularities of parallel manipulators the actuators lose control of the end-effector in
certain directions. It is shown that if certain conditions related to the consistency of the …

This paper introduces two general architectures of kinematically redundant planar parallel
mechanisms. Their kinematic models are analyzed, an analytic workspace determination …