Romansy 14 pp 359-368 | Cite as

A Family of Novel Orientational 3-DOF Parallel Robots

  • Mourad Karouia
  • Jacques M. Hervé
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


This paper presents a family of novel orientational 3-dof parallel robots, which are not overconstrained whereas most of the previously described mechanisms are. Using equivalencies that stem from the algebraic structure of Lie group of the set of Euclidean displacements, we have found many new tripod limbs and some of them are truly amazing by including prismatic pairs.


Parallel Manipulator Kinematic Chain Planar Displacement Kinematic Pair Spherical Motion 
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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Mourad Karouia
    • 1
  • Jacques M. Hervé
    • 2
  1. 1.Medical Robotics-Department of Thoracic and Cardiovascular SurgeryPitié-Salpêtrière HospitalParisFrance
  2. 2.Mechanical Researches-Department of Mechanical EngineeringEcole Centrale ParisChâtenay-MalabryFrance

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