Yan Jin: School of Mechanical & Aerospace Engineering, Queen’s University, Belfast, UK
He´ le`ne Chanal: Institute of France Advanced Manufacturing (IFMA), Clermont-Ferrand, France
Flavien Paccot: University of Auvergne, Clermont-Ferrand, France
59.1 Introduction
59.3 Design Methodology
Robot Components
Type Synthesis
Displacement Modeling
Jacobian Analysis
Workspace Analysis
Dimensional Synthesis
59.4 Performance Evaluation, Calibration, and Control
Static and Dynamic Analysis
Calibration
Control
59.5 Summary and Future Directions
References
Abstract
Parallel robot (PR) is a mechanical system that utilized multiple computer-controlled limbs to support one common platform or end effector. Comparing to a serial robot, a PR generally has higher precision and dynamic performance and, therefore, can be applied to many applications. The PR research has attracted a lot of attention in the last three decades, but there are still many challenging issues to be solved before achieving PRs’ full potential. This chapter introduces the state-of-the-art PRs in the aspects of synthesis, design, analysis, and control. The future directions will also be discussed at the end.