Skip to Main content Skip to Navigation
New interface
Book sections

Appropriate Design of Parallel Manipulators

Jean-Pierre Merlet 1 D. Daney 1 
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : Although parallel structures have found a niche market in many applications such as machine tools, telescope positioning or food packaging, they are not as successful as expected. The main reason of this relative lack of success is that the study and hardware of parallel structures have clearly not reached the same level of completeness than the one of serial structures. Among the main issues that have to be addressed, the design problem is crucial. Indeed, the performances that can be expected from a parallel robot are heavily dependent upon the choice of the mechanical structure and even more from its dimensioning. In this chapter, we show that classical design methodologies are not appropriate for such closed-loop mechanism and examine what alternatives are possible.
Document type :
Book sections
Complete list of metadata
Contributor : David Daney Connect in order to contact the contributor
Submitted on : Thursday, November 21, 2013 - 1:22:18 PM
Last modification on : Friday, February 4, 2022 - 3:23:47 AM
Long-term archiving on: : Saturday, February 22, 2014 - 4:38:05 AM


Files produced by the author(s)




Jean-Pierre Merlet, D. Daney. Appropriate Design of Parallel Manipulators. Wang, Lihui and Xi, Jeff. Smart Devices and Machines for Advanced Manufacturing, Springer London, pp.1-25, 2008, 978-1-84800-146-6. ⟨10.1007/978-1-84800-147-3_1⟩. ⟨hal-00907514⟩



Record views


Files downloads