Introduction

Abstract

Over the last two decades, parallel mechanisms (PMs) evolved from rather marginal machines to widely used mechanical architectures. Current application of PMs include motion simulators, industrial robots, nano-manipulators and micro-manipulators, to name only a few. However, the existing architectures of PMs have been largely synthesized using intuition and ingenuity. As opposed to serial kinematic chains (KCs), in which the number of kinematic arrangements (types) is somewhat limited, PMs can lead to a very large number of kinematic arrangements for a given motion pattern. Therefore, a systematic approach is needed in order to determine all types of PMs thereby allowing the development of the most promising designs. This fundamental issue, namely type synthesis, is the focus of this book. In this chapter, the background of the type synthesis of PMs is presented. The state of the art of the research is also reviewed. Finally, the outline of the book is proposed.