This book starts with a short recapitulation on basic concepts, common to any types of robots
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …

Recent works introduced topology optimization in the design of robots, but the proposed
methodologies led to a local optimization of the performance. Moreover, most of …

This paper proposes a sensor-based design methodology in order to design a Delta robot
with guaranteed accuracy performance for a dedicated sensor-based controller. This sensor …

Small-scale (from centimeters down to micrometers) parallel robots with high precision are
widely utilized in various industrial and biomedical settings, while such superiorities remain …

Parallel manipulators are being used extensively to cater to the needs of a multitude of
industrial automation applications. Due to its kinematic accuracy and structural stiffness …

An approach for calculating the maximum possible absolute values of joint velocities or
generalized reactions in a leg of a parallel mechanism has been considered in this paper …

In order to increase the reachable workspace of parallel robots, a promising solution
consists of the definition of optimal trajectories that ensure the non-degeneracy of the …

This paper presents a design procedure for a two degree-of-freedom (DOF) translational
parallel manipulator, named IRSBot-2. This design procedure aims at determining the …

In this work, the structural design of a structure-simplified parallel Delta robot is presented,
by considering the kinetostatics, kinematic dexterity and workspace. An approach to …

Delta-like architectures are widely used for fast pick-and-place applications. When rotational
degrees-of-freedom are required to perform a task, one or more UPU kinematic chains are …