Titlebook: Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory; Jaime Gallardo-Alvarado Book 2016 Springer International Publishing

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3-RRPS Parallel ManipulatorThis chapter reports on the kinematics of a symmetric three-legged six-degree-of-freedom parallel manipulator equipped with a combination of rotary and linear actuators. The introduction of this class of robot manipulators has been a recursive option to avoid the complexity of the forward displacement analysis of the general hexapod.

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Gough’s Tyre Testing MachineThis chapter uses screw theory to address the kinematics of the most celebrated six-legged six-degree-of-freedom parallel manipulator. A novel strategy to solve the forward displacement analysis of the robot is explained in detail in this chapter.

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