Structural Synthesis of Parallel Robots

Part 2: Translational Topologies with Two and Three Degrees of Freedom

  • GrigoreĀ Gogu

Part of the Solid Mechanics and Its Applications book series (SMIA, volume 159)

About this book


This book represents the second part of a larger work dedicated to the structural synthesis of parallel robots.

The originality of this work resides in the fact that it combines new formulae for mobility connectivity, redundancy and overconstraint, and the evolutionary morphology in a unified approach of structural synthesis giving interesting innovative solutions for parallel robotic manipulators. This is the first book of robotics presenting solutions of coupled, decoupled, uncoupled, fully-isotropic and maximally regular translational parallel robotic manipulators systematically generated by using the structural synthesis approach proposed in Part 1. Non-redundant/redundant, overconstrained/isostatic solutions with simple/complex limbs actuated by linear/rotary actuators with/without idle mobilities are proposed. 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.


Degrees of freedom evolutionary morphology fully-isotropic parallel robots robot robotics structural synthesis uncoupled motions

Authors and affiliations

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

Bibliographic information