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 …

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 …

This paper presents an analysis of the different kinds of singularities encountered in closed-
loop kinematic chains. A general classification of these singularities in three main groups …

In this paper, a novel performance index for the kinematic optimization of robotic
manipulators is presented. The index is based on the condition number of the Jacobian …

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 presents some results obtained in the development of a three-degree-of-freedom
camera-orienting device. The agile eye, as it is referred to, is capable of an orientation …

The lower-mobility parallel mechanism (PM) has fewer than six degrees of freedom (DoFs)
and requires fewer links, joints and actuators than its 6-DoF counterpart. Hence, the use of …

This paper presents a methodology for the Jacobian analysis of limited degrees-of-freedom
(DOF) parallel manipulators. A limited-DOF parallel manipulator is a spatial parallel …

This paper presents an algorithm for the determination of the workspace of parallel
manipulators. The method described here, which is based on geometrical properties of the …

In the area of parallel robots, the use of lower-mobility parallel manipulators for many tasks
requiring fewer than six degrees of freedom (DoF) has drawn a lot of interest. This paper …