Abstract
The design of parallel mechanisms is addressed in this chapter using two main performance criteria, namely, the kinematic dexterity and the concept of static balancing. Static balancing is defined here as the set of conditions on mechanism dimensional and mass parameters which, when satisfied, ensure that the weight of the links does not produce any torque (or force) at the actuators for any configuration of the mechanism, under static conditions. Spherical three-degree-of-freedom parallel mechanisms are used as examples and applications to manipulators and motion simulation systems are studied.
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