Parallel Mechanisms

  • Jean-Pierre MerletEmail author
  • Clément Gosselin
  • Tian Huang
Part of the Springer Handbooks book series (SHB)


This chapter presents an introduction to the kinematics and dynamics of parallel mechanisms, also referred to as parallel robots. As opposed to classical serial manipulators, the kinematic architecture of parallel robots includes closed-loop kinematic chains. As a consequence, their analysis differs considerably from that of their serial counterparts. This chapter aims at presenting the fundamental formulations and techniques used in their analysis.


Parallel Mechanism Parallel Robot Joint Velocity Forward Kinematic Stewart Platform 
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.



conservative congruence transformation


degree of freedom


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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • Jean-Pierre Merlet
    • 1
    Email author
  • Clément Gosselin
    • 2
  • Tian Huang
    • 3
  1. 1.INRIA Sophia-AntipolisSophia-AntipolisFrance
  2. 2.Department of Mechanical EngineeringLaval UniversityQuebecCanada
  3. 3.Department of Mechanical EngineeringTianjin UniversityTianjinChina

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