This thesis deals with the kinematic analysis, dynamic analysis and static balancing of planar and spatial parallel mechanisms or manipulators with revolute actuators. The inverse kinematics of each mechanism is first computed and a nengeneral algorithm is used to locate the boundaries of the workspace of the mechanism. Two approaches. narnely. the algebraic formulation and the vector formulati...

With regard to planar parallel manipulators, a general classification of singularities into three groups is given. The classification scheme relies on the properties of instantaneous centers of rotation. This method is very fast and can easily be applied to the manipulators under study. The method is applied to a planar three-degrees-of-freedom parallel manipulator and all its singular configur...

A scheme is presented for analising nite-element triangulations. The method takes a random triangulated planar graph and gives a multifrontal way to solve the corresponding physical problem, so that the maximum bandwidth of each front is guaranteed to be \optimal". The interesting characteristic of this scheme is that it introduces large-grained parallelism dictated by the domain structure. A w...

Given a general 3-RPR planar parallel robot with linear platforms, it is proven that there are no singularity-free paths between non-symmetrical direct kinematics solutions. We provide an alternative proof of this. also shows path two symmetrical solutions if appropriate condition satisfied. This will be automatically satisfied for exactly one pair four real to the kinematics. The topology kine...