---

Parallel Kinematic Machines (PKMs) are one of the most radical innovations in production equipment. They attempt to combine the dexterity of robots with the accuracy of machine tools to respond to several industrial needs. This book contains the proceedings of the first European-American Forum on Parallel Kinematic Machines, held in Milan, Italy from 31 August - 1 September 1998. The Forum was established to provide institutions, technology suppliers and industrial end users with an improved understanding of the real advantages to be gained from using PKMs. This book contributes to a mid-term strategy oriented to reduce time to market and costs, improve production flexibility and minimize environmental impacts to increase worldwide competitiveness. In particular the authors focus on enabling technologies and emerging concepts for future manufacturing applications of PKMs. Topics include: Current status of PKM R&D in Europe, the USA and Asia. Industrial requirements, roadblocks and application opportunities. Research issues and possibilities. Industrial applications and requirements.

---

I: Theoretical Aspects.- Research and Development in the Field of Parallel Kinematic Systems in Europe.- Parallel Kinematic Machine Research at NIST: Past, Present and Future.- Systematic Enumeration of Parallel Manipulators.- Classification and Kinematic Modelling of Fully-Parallel Manipulators - A Review.- Kinematic Analysis of Parallel Manipulators.- Closed Form Solution to the Orientation Workspace of Stewart Parallel Manipulators.- The importance of Optimal Design for Parallel Structures.- Design, Reconfiguration, and Control of Parallel Kinematic Machines.- Precision Requirements of Hexapod-Machines and Investigation Results.- On the Geometric and Thermal Errors of a Hexapod Machine Tool.- Error Modeling and Compensation for Parallel Kinematic Machines.- Pose Measurement of Parallel Kinematic Machines with Serial Link Measuring Systems.- Calibration and Self-Calibration of Hexapod MachineTools.- Dynamics and Controls of Hexapod Machine Tools.- Evaluation of Control Algorithms for High-Speed Motion Control of Machine-Tool Structures based on Stewart Platforms.- Parallel Link Machine Tools: Simulation, Workspace Analysis and Component Positioning.- On the Use and Augmentation of Hexapod Machine Tools.- II: Industrial Requirements and Applications.- Will PKM be Adopted by Industry?.- Parallel Kinematic Mechanisms: New Design Parameters for Manufacturing System Design.- Parallel Kinematics: the Importance of Enabling Technologies.- A Systematic Comparison of Parallel Kinematics.- Experiences with a Hexapod-Based Machine Tool.- Parallel Link Mechanism Machine Tools: Acceptance Testing and Performance Analysis.- Hexaglide 6 DOF and Triaglide 3 DOF Parallel Manipulators.- From Hexa to HexaM.- Structure and Characteristics of the Hybrid Manipulator Georg V.- LINAPOD - Machine Tools as Parallel Link Systems Based on a Modular Design.- The Delta Robot within the Industry.- The Delta Parallel Robot.- The Tetrahedral Tripod.- Survey of R&D Activities Related to Parallel Mechanisms in Japan.- Eclipse: an Overactuated Parallel Mechanism for Rapid Machining.

---