Parallel Manipulators, New Developments ISBN 978-3-902613-20-2 hard cover, 498 pages Edited by: Jee-Hwan Ryu Publisher: I-Tech Education and Publishing, Vienna, Austria Publication date: April 2008 Price: 80 Euro incl. package & postage |Download the full text of this book|

About the Book Parallel manipulators are characterized as having closed-loop kinematic chains. Compared to serial manipulators, which have open-ended structure, parallel manipulators have many advantages in terms of accuracy, rigidity and ability to manipulate heavy loads. Therefore, they have been getting many attentions in astronomy to flight simulators and especially in machine-tool industries.The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in parallel manipulators. This book mainly introduces advanced kinematic and dynamic analysis methods and cutting edge control technologies for parallel manipulators. Even though this book only contains several samples of research activities on parallel manipulators, I believe this book can give an idea to the reader about what has been done in the field recently, and what kind of open problems are in this area.

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Table of Contents

01On the Robust Dynamics Identification of Parallel Manipulators: Methodology and Experiments
Houssem Abdellatif, Bodo Heimann and Jens Kotlarski

02Application of Neural Networks to Modeling andControl of Parallel Manipulators
Ahmet Akbas

03Asymptotic Motions of Three-Parametric Robot Manipulators with Parallel Rotational Axes
Jan Baksa

04Topology and Geometry of Serial and Parallel Manipulators
Xiaoyu Wang and Luc Baron

05Conserving Integrators for Parallel Manipulators
Stefan Uhlar and Peter Betsch

06Wire Robots Part I: Kinematics, Analysis & Design
Tobias Bruckmann, Lars Mikelsons, Thorsten Brandt, Manfred Hiller and Dieter Schramm

07Wire Robots Part II: Dynamics, Control & Application
Tobias Bruckmann, Lars Mikelsons, Thorsten Brandt, Manfred Hiller and Dieter Schramm

08Parallel Robot Scheduling with Genetic Algorithms
Tarik Cakar, Harun Resit Yazgan and Rasit Koker

09Design and Prototyping of a Spherical Parallel Machine Based on 3-CPU Kinematics
Massimo Callegari

10Quantitative Dexterous Workspace Comparison of Serial and Parallel Planar Mechanisms
Geoff T. Pond and Juan A. Carretero

11Calibration of 3-DOF Translational Parallel Manipulators Using Leg Observations
Anatol Pashkevich, Damien Chablat, Philippe Wenger and Roman Gomolitsky

12Kinematic Parameters Auto-Calibration of Redundant Planar 2-DOF Parallel Manipulator
Shuang Cong, Chunshi Feng, Yaoxin Zhang, Zexiang Li and Shilon Jiang

13Error Modeling and Accuracy of TAU Robot
Hongliang Cui, Zhenqi Zhu, Zhongxue Gan and Torgny Brogardh

14Specific Parameters of the Perturbation Profile Differentially Influence the Vertical and Horizontal Head Accelerations During Human Whiplash Testing
Loriann M. Hynes, Natalie S. Sacher and James P. Dickey

15Neural Network Solutions for Forward Kinematics Problem of HEXA Parallel Robot
M. Dehghani, M. Eghtesad, A. A. Safavi, A. Khayatian, and M. Ahmadi

16Acceleration Analysis of 3-RPS Parallel Manipulators by Means of Screw Theory
J. Gallardo, H. Orozco, J.M. Rico, C.R. Aguilar and L. Perez

17Multiscale Manipulations with Multiple Parallel Mechanism Manipulators
Gilgueng Hwang and Hideki Hashimoto

18Principal Screws and Full-Scale Feasible Instantaneous Motions of Some 3-DOF Parallel Manipulators
Z. Huang, J. Wang and S. H. Li

19Singularity Robust Inverse Dynamics of Parallel Manipulators
S. Kemal Ider

20Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach
Jee-Hwan Ryu, Dong-Soo Kwon and Blake Hannaford

21Dynamic Modelling and Vibration Control of a Planar Parallel Manipulator with Structurally Flexible Linkages
Bongsoo Kang and James K. Mills

22Task Space Approach of Robust Nonlinear Control for a 6 DOF Parallel Manipulator
Hag Seong Kim

23Tactile Displays with Parallel Mechanism
Ki-Uk Kyung and Dong-Soo Kwon

24Design, Analysis and Applications of a Class of New 3-DOF Translational Parallel Manipulators
Yangmin Li and Qingsong Xu

25Type Design of Decoupled Parallel Manipulators with Lower Mobility
Weimin Li