Parallel Robotics: Kinematics and Applications

This lecture introduces the concepts of parallel and serial robots, focusing on the closed kinematic chains of parallel robots with all motors located at the base. It covers the history of parallel robots, including the Pollard robot and the Delta robot patented by R. Clavel. The lecture discusses the mobility of parallel robots, formulas for kinematic loops, and various realizations like the Delta robot with gimbals. It explores the applications of parallel robots in industries such as packaging and watchmaking, highlighting the advantages and challenges of different variants. The presentation also delves into hybrid solutions combining parallel and serial mechanisms to increase degrees of freedom.