Parallel manipulator
Related papers: 20
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A parallel manipulator is a robotic mechanism in which multiple kinematic chains connect a fixed base to a single moving platform simultaneously, with each chain typically driven by its own actuator. Unlike serial manipulators where joints are arranged in a single open chain, parallel manipulators distribute loads across all chains in parallel, resulting in significantly higher structural stiffness, load-bearing capacity, and positional accuracy. The Stewart platform—a six-degree-of-freedom parallel mechanism using six extensible legs—is perhaps the most well-known example, widely used in flight simulators, precision machining, and medical robotics. In robotics and automation, parallel manipulators excel in high-speed pick-and-place operations, force-controlled assembly, and applications demanding precise end-effector positioning under heavy loads. Their compact, closed-loop kinematic structure, however, introduces analytical challenges including complex singularity configurations, limited workspace compared to serial counterparts, and intricate forward kinematics. Understanding parallel manipulators matters because they offer performance characteristics—speed, stiffness, and accuracy—that serial designs fundamentally cannot match, making them essential for next-generation manufacturing, surgical robotics, and precision instrumentation systems.
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A unified approach for motion and force control of robot manipulators: The operational space formulation
Oussama Khatib
Citations: 2917 • 1987
Robot Analysis: The Mechanics of Serial and Parallel Manipulators
Lung‐Wen Tsai
Citations: 1851 • 1999
Singularity analysis of closed-loop kinematic chains
Clément Gosselin, Jorge Angeles
Citations: 1719 • 1990
A Global Performance Index for the Kinematic Optimization of Robotic Manipulators
Clément Gosselin, Jorge Angeles
Citations: 948 • 1991
Structural Kinematics of In-Parallel-Actuated Robot-Arms
K. H. Hunt
Citations: 860 • 1983
A Stewart Platform- Based Manipulator: General Theory and Practical Construction
E. F. Fichter
Citations: 794 • 1986
Parallel Robots
Jean‐Pierre Merlet
Citations: 705 • 2000
The Stewart platform manipulator: a review
Bhaskar Dasgupta, T.S. Mruthyunjaya
Citations: 699 • 2000
The NIST robocrane
James S. Albus, Roger Bostelman, Nicholas G. Dagalakis
Citations: 575 • 1993
A combined optimization method for solving the inverse kinematics problems of mechanical manipulators
L.-C.T. Wang, C.C. Chen
Citations: 483 • 1991
Nonlinear disturbance observer design for robotic manipulators
Alireza Mohammadi, Mahdi Tavakoli, Horacio J. Marquez, Farzad Hashemzadeh
Citations: 466 • 2012
Modelling and Control of Robot Manipulators
L Sciavicco and B Siciliano
Citations: 429 • 2000
General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators
Zhenyu Huang, Q.C. Li
Citations: 385 • 2002
High-speed manipulation by using parallel wire-driven robots
Sadao Kawamura, Hitoshi Kino, Won Choe
Citations: 370 • 2000
Foundations of Robotics
Tsuneo Yoshikawa
Citations: 348 • 1990
Performance evaluation of parallel manipulators: Motion/force transmissibility and its index
Jinsong Wang, Chao Wu, Xin-Jun Liu
Citations: 347 • 2010
Enhanced stiffness modeling, identification and characterization for robot manipulators
Gürsel Alıcı, Bijan Shirinzadeh
Citations: 344 • 2005
Robot arm geometric link parameter estimation
S. Hayati
Citations: 338 • 1983
Dynamic analysis and control of a stewart platform manipulator
G. Lebret, Kai Liu, Frank L. Lewis
Citations: 330 • 1993
The parallel approach to force/position control of robotic manipulators
S. Chiaverini, L. Sciavicco
Citations: 322 • 1993