Structural Synthesis of Parallel Robots

  • GrigoreĀ Gogu

Part of the Solid Mechanics and its Applications book series (SMIA, volume 149)

Table of contents

  1. Front Matter
    Pages i-xviii
  2. Pages 1-30
  3. Pages 31-130
  4. Pages 131-234
  5. Pages 235-297
  6. Pages 299-328
  7. Back Matter
    Pages 665-706

About this book


This is the first book of robotics presenting solutions of uncoupled and fully-isotropic parallel robotic manipulators and a method for their structural synthesis. . The originality of this work resides in combining the new formulae for mobility connectivity, redundancy and overconstraints, and the evolutionary morphology in a systematic approach of structural synthesis. This work is organized in two parts published in two distinct books. Part 1 presents the methodology proposed for structural synthesis and Part 2 the various topologies of parallel robots generated by this systematic approach. Many solutions are presented here for the first time in the literature. The author had to make a difficult and challenging choice between protecting these solutions through patents, and releasing them directly into the public domain. The second option was adopted by publishing them in various recent scientific publications and mainly in this book. In this way, the author hopes to contribute to a rapid and widespread implementation of these solutions in future industrial products.


Mechanics algorithms design evolutionary algorithm kinematics modeling parallel robots robot robotics

Editors and affiliations

  • GrigoreĀ Gogu
    • 1
  1. 1.Mechanical Engineering Research GroupFrench Institute of Advanced Mechanics and Blaise Pascal UniversityClermont-FerrandFrance

Bibliographic information