Robotic Manipulator Design and construction

This book explains basic kinematic structures in robotic manipulator design. Especial emphasis is given to the design of parallel kinematic robotic manipulators (PKM). Mathematical modelling approaches are discussed in order to evaluate robots output characteristics like workspace, dexterity, stiffness and accuracy. New structural ideas are modelled to improve orientation capability with low number of actuators and high Degree of freedom joints. A new three legged parallel system is prototyped and its performance is measured through external pose measurement. The book also explains basic concepts in robotics with especial emphasis on fast growing field of parallel manipulators. The book is useful to engineering students, professional engineers, robotic enthusiasts, researchers, academicians and scientists in Mechanical, Mechatronics, Electrical, Industrial, Manufacturing and related disciplines.