Parallel robots with unconventional joints. Kinematics and motion planning (Q2631494)

Since a few decades, parallel robots is an attractive field as for researchers so for industrials. Studying parallel robots gives many and interesting ideas due to their advantages and complexity, and leading to issues in terms of design, modelling and control allowed the definition of new applied and scientific problems to be solved. Namely, this is the motivation of the authors to write the present book. Here, it is shown how the substitution of ordinary joints (revolute -- R or prismatic -- P) with unconventional joints, such as lockable revolute -- \(R_b\) or non-holonomic spherical -- \(S_n\) joints, in lower mobility parallel robots provide them with many new and nice features. Three particular parallel robots are analyzed in details -- geometry, kinematics, dynamics, position analysis, singularities, controllability, motion planning, model parameter identification problems, the definition of advanced algebraic tools necessary for their study, optimal design, and many other scientific and technological aspects. This book should be of interest to practicing and research engineers as well as Ph.D. students from the field of mechanical engineering and, in particular, from robotics.