Given the advantages of parallel manipulators and lightweight manipulators, a 3-PRR planar parallel manipulator with three lightweight intermediate links has be

PhD.

This book describes the active vibration control techniques which have been developed to suppress excessive vibrations of structures. It covers the fundamental

Parallel manipulators are characterized as having closed-loop kinematic chains. Compared to serial manipulators, which have open-ended structure, parallel manip

In this chapter, the equations of motion for the planar parallel manipulator are formulated by applying the Lagrangian equation of the first type. Introducing L