Theory and Applications of Parallel Manipulators

Parallel manipulators are advanced robotic systems characterised by multiple rigid arms connected in a parallel configuration between a fixed base and a movable platform or end-effector. Unlike serial manipulators, where each link is connected in a series, parallel manipulators feature several limbs, typically three or more, extending from the base to the end-effector. This design offers advantages such as increased stiffness, higher payload capacity, and enhanced accuracy compared to serial configurations. Parallel manipulators are widely utilised in applications requiring precise and stable motion control, including flight simulators, robotic surgery, assembly systems and high-precision machining. Their ability to achieve precise movements in constrained spaces makes them valuable tools in various industrial and research settings. This book unravels the recent studies in the field of robotics. It includes some of the vital pieces of work being conducted across the world, on various topics related to parallel manipulators. This book aims to equip students and experts with the advanced topics and upcoming concepts in this area.