This chapter presents an introduction to the kinematicskinematic and dynamics of parallel mechanisms, also referred to as parallel robots. As opposed to classical serial manipulators, the kinematic architecture of parallel robots includes closed-loop kinematic chains. As a consequence, their analysis differs considerably from that of their serial counterparts. This chapter aims at presenting the fundamental formulations and techniques used in their analysis.
CITATION STYLE
Merlet, J. P., Gosselin, C., & Huang, T. (2016). Parallel Mechanisms. In Springer Handbooks (pp. 443–462). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-319-32552-1_18
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