Parallel Mechanisms

  • Jadran Lenarčič
  • Tadej Bajd
  • Michael M. Stanišić
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 60)


Today there is an abundance of kinematic arrangements of parallel mechanisms with different numbers of degrees of freedom available in robotics. The most commonly used are described in this chapter. In contrast to serial mechanisms, universal and spherical joints are common in parallel mechanisms, as the majority of joints in a parallel mechanism robot are passive. The complexity of parallel mechanisms becomes evident in their mathematical analysis. In parallel mechanisms, a closed-form solution to the direct kinematics problem does not, in general, exist. Difficulties are also due to the multiple solutions and to the fact that the existence of a real solution is not always guaranteed.


Parallel Mechanism Spherical Joint Joint Variable Kinematic Structure Universal Joint 
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Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  • Jadran Lenarčič
    • 1
  • Tadej Bajd
    • 2
  • Michael M. Stanišić
    • 3
  1. 1.J. Stefan InstituteLjubljana-Vic-RudnikSlovenia
  2. 2.Faculty of Electrical EngineeringUniversity of LjubljanaLjubljana-Vic-RudnikSlovenia
  3. 3.Aerospace and Mechanical EngineeringNotre Dame UniversityNotre DameUSA

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