© 2010

Structural Synthesis of Parallel Robots

Part 3: Topologies with Planar Motion of the Moving Platform

  • Structural solutions of parallel robots in a systematic approach

  • Including maximally regular and fully-isotropic solutions

  • Represented for the first time in the literature


Part of the Solid Mechanics and Its Applications book series (SMIA, volume 173)

Table of contents

About this book


This book represents the third 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 the new formulae for mobility, connectivity, redundancy and overconstraints, 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 parallel robotic manipulators with planar motion of the moving platform 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.


actuator automation engineering design mechanics parallel robot robot robotics

Authors and affiliations

  1. 1.Anancée (IFMA)Inst. Francais de MécaniqueAubiere CXFrance

Bibliographic information

  • Book Title Structural Synthesis of Parallel Robots
  • Book Subtitle Part 3: Topologies with Planar Motion of the Moving Platform
  • Authors Grigore Gogu
  • Series Title Solid Mechanics and Its Applications
  • DOI
  • Copyright Information Springer Science+Business Media B.V. 2010
  • Publisher Name Springer, Dordrecht
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-90-481-9830-6
  • Softcover ISBN 978-94-007-3341-1
  • eBook ISBN 978-90-481-9831-3
  • Series ISSN 0925-0042
  • Edition Number 1
  • Number of Pages XVIII, 686
  • Number of Illustrations 0 b/w illustrations, 0 illustrations in colour
  • Topics Control and Systems Theory
    Control, Robotics, Mechatronics
  • Buy this book on publisher's site
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