Spatial Parallel Robotic Machines with Revolute Actuators

  • Dan ZhangEmail author


In this chapter, first, a six degrees of freedom fully parallel robotic machine with revolute actuators is presented and analyzed. Then, a serial of parallel manipulators with 3-dof, 4-dof, and 5-dof whose degree of freedom is dependent on an additional passive leg, this passive leg is connecting the center between the base and the moving platform. Together with the inverse kinematics and velocity equations for both rigid-link and flexible-link mechanisms, a general kinetostatic model is established for the analysis of the structural rigidity and accuracy of this family of mechanisms, case studies for 3-dof, 4-dof, and 5-dof mechanisms are given in detail to illustrate the results.


Jacobian Matrix Parallel Mechanism Kinematic Chain Jacobian Matrice Rigid Link 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


  1. 3.
    Gosselin CM, Guillot M (1991) The synthesis of manipulators with prescribed workspace. 123 ASME J Mech Des 113:451–455Google Scholar
  2. 62.
    Gosselin CM, Zhang D (1999) Stiffness analysis of parallel mechanisms using a lumped model. Technical report, Département de Génie Mécanique, Université LavalGoogle Scholar

Copyright information

© Springer Science+Business Media, LLC 2010

Authors and Affiliations

  1. 1.Faculty of Engineering and Applied ScienceUniversity of Ontario Institute of Technology (UOIT)OshawaCanada

Personalised recommendations