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An Overview of Parallel Manipulators

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Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

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Abstract

A parallel manipulator is a mechanical system formed by two linked platforms, namely, the fixed platform and the moving platform. The moving platform is connected to the fixed platform by at least two independent computer-controlled serial chains or limbs working in parallel. Compared with their serial counterparts, parallel manipulators are essentially more accurate and rigid. Furthermore, the possibility to mount the motors near the fixed platform is an attractive feature of robots with parallel kinematic topologies. Then it can be used in a wide range of applications that require precision and higher payload capacity combined with higher speed. This chapter briefly reviews of some well-known parallel manipulators that are currently considered significant contributions.

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Notes

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    Electronic supplementary material: The online version of this chapter (doi: 10.1007/978-3-319-31126-5_2) contains supplementary material, which is available to authorized users.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Instituto Tecnologico de Celaya, Celaya, Mexico

    Jaime Gallardo-Alvarado

Authors
  1. Jaime Gallardo-Alvarado
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1 Electronic Supplementary Material

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© 2016 Springer International Publishing Switzerland

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Gallardo-Alvarado, J. (2016). An Overview of Parallel Manipulators. In: Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory. Springer, Cham. https://doi.org/10.1007/978-3-319-31126-5_2

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  • DOI: https://doi.org/10.1007/978-3-319-31126-5_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31124-1

  • Online ISBN: 978-3-319-31126-5

  • eBook Packages: EngineeringEngineering (R0)

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