Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Kinematics of Rigid Bodies Read chapter Read first chapter

2013 | OriginalPaper | Chapter

7. Parallel Mechanisms

Authors : Jadran Lenarčič, Tadej Bajd, Michael M. Stanišić

Published in: Robot Mechanisms

Publisher: Springer Netherlands

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

Today there is an abundance of kinematic arrangements of parallel mechanisms with different numbers of degrees of freedom available in robotics. The most commonly used are described in this chapter. In contrast to serial mechanisms, universal and spherical joints are common in parallel mechanisms, as the majority of joints in a parallel mechanism robot are passive. The complexity of parallel mechanisms becomes evident in their mathematical analysis. In parallel mechanisms, a closed-form solution to the direct kinematics problem does not, in general, exist. Difficulties are also due to the multiple solutions and to the fact that the existence of a real solution is not always guaranteed.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter Redundant Mechanisms
next chapter Robot Contact
Literature
4.
J. Babič, J. Lenarčič, in On Advances in Robot Kinematics, ed. by J. Lenarčič, C. Galletti (Kluwer Academic Publishers, Dordrecht, 2004), pp. 155–162
5.
J. Babič, L. Bokman, D. Omrčen, J. Lenarčič, F. Park, J. Mech. Robot. 1, 1 (2009)
14.
R. Clavel, in Proceedings 18th International Symposium on Industrial Robots, Sydney, Australia (1988), pp. 91–100
18.
R. Di Gregorio, V. Parenti-Castelli, in Advances in Robot Kinematics: Analysis and Control, ed. by J. Lenarčič, M.L. Husty (Kluwer Academic, Dordrecht, 1998), pp. 49–58
20.
P. Dietmaier, in Advances in Robot Kinematics: Analysis and Control (Kluwer Academic, Dordrecht, 1998), pp. 7–16
25.
26.
V.E. Gough, S.G. Whitehall, in Proceedings 9th International Technical Congress F.I.S.I.T.A., Institution of Mechanical Engineers (1962), pp. 117–135
28.
M. Honegger, A. Codourey, E. Burdet, in Proceedings IEEE Robotics and Automation Conference, Albuquerque (1997)
30.
31.
33.
52.
J. Lenarčič, M.M. Stanišić, IEEE Transactions on Robotics and Automation 19 (2003)
55.
J. Lenarčič, M.M. Stanišić, V. Parenti-Castelli, in Proceedings IEEE Robotics and Automation Conference, San Francisco (2000), pp. 27–32
59.
J.M. McCarthy, Geometric Design of Linkages (Springer, New York, 2000) MATH
60.
J.P. Merlet, Parallel Robots, 2nd edn. (Springer, Dordrecht, 2006) MATH
66.
V. Parenti-Castelli, R. Di Gregorio, in Advances in Robot Kinematics, ed. by J. Lenarčič, M.M. Stanišić (Kluwer Academic, Dordrecht, 2000), pp. 333–334 CrossRef
76.
S.J. Ryu, J. Kim, J.C. Hwang, C.B. Park, H.S. Cho, K. Lee, Y.H. Lee, U. Cornel, F.C. Park, J.W. Kim, J. Manuf. Sci. Eng. 8, 681 (1998)
80.
83.
L.W. Tsai, in Recent Advances in Robot Kinematics, ed. by J. Lenarčič, V. Parenti-Castelli (Kluwer Academic, Dordrecht, 1996), pp. 401–409 CrossRef
84.
L.W. Tsai, Robot Analysis, The Mechanics of Serial and Parallel Manipulators (Wiley, New York, 1999)
88.
P. Wenger, D. Chablat, in Advances in Robot Kinematics, ed. by J. Lenarčič, M.M. Stanišić (Kluwer Academic, Dordrecht, 2000), pp. 305–314 CrossRef
91.
Metadata
Title
Parallel Mechanisms
Authors
Jadran Lenarčič
Tadej Bajd
Michael M. Stanišić
Copyright Year
2013
Publisher
Springer Netherlands
Book
Robot Mechanisms

Print ISBN: 978-94-007-4521-6

Electronic ISBN: 978-94-007-4522-3

Copyright Year: 2013

DOI
https://doi.org/10.1007/978-94-007-4522-3_7