| The forward and inverse displacement problems for manipulators with parallel architecture are descried and analyzed. Different formulations used to derive the kinematics equations of parallel manipulators are presented. Particular emphasis is made on the use of screw theory formulations. Issues related to kinematic singularities, dexterity, stiffness and workspace are also studied. Most of the material is covered through examples of planar and spatial parallel manipulator architectures with three to six degrees-of-freedom. Some applications of parallel manipulators are presented. |
