Intro; Preface; Contents; 1 Introduction: Lockable and Non-holonomic Joints; 1.1 Motivation; 1.1.1 Reconfigurable Robots with Lockable Joints; 1.1.2 Underactuated Robots with Non-holonomic Joints; 1.2 Precursors; 1.2.1 Precursors of Robots with Lockable Joints; 1.2.2 Precursors of Robots with Non-holonomic Joints; 1.3 Organization of this Book; References; 2 Parallel Robots with Lockable Revolute Joints; 2.1 Kinematics of the 4RbRunderlinePS Parallel Robot; 2.1.1 Position Analysis; 2.1.2 Singularities; 2.2 Maneuvers; 2.3 Motion Planning; 2.3.1 Generating the Road Map; 2.3.2 Finding a Path

2.4 Hardware Implementation2.5 Software Implementation; References; 3 Spherical Non-holonomic Joints; 3.1 Under-Actuated Parallel Robots with Spherical Non-holonomic Joints; 3.2 Implementation of Spherical Non-holonomic Joints; References; 4 Kinematics of the 3SnunderlinePU Spatial Robot; 4.1 The 3SnunderlinePU Robot; 4.2 Instantaneous Kinematics; 4.3 Statics Analysis; 4.4 Singularities; 4.5 Controllability; 4.6 Example; References; 5 Motion Planning for the 3SnunderlinePU Robot; 5.1 Motion Planning; 5.2 Using Truncated Series; 5.3 Example; References

6 Kinematics of the Sn-2UunderlinePS Spherical Robot6.1 Kinematic Model; 6.2 Deriving a Bilinear Model; 6.3 Singularities; 6.4 A, B, and Rotations in mathbbR4; 6.5 Workspace Computation; 6.5.1 Graphical Representation of the Platform Orientation; 6.5.2 Workspace Boundaries Due to Singularities; 6.5.3 Workspace Boundaries Due to Joint Limits; References; 7 Motion Planning for the Sn-2UunderlinePS Robot; 7.1 Kinematic Model; 7.2 Three-Move Motion Planner; 7.3 Two-Move Motion Planner; 7.4 Single-Move Motion Planner; 7.5 Example; 7.5.1 Three-Move Motion Planner; 7.5.2 Two-Move Motion Planner

7.5.3 Single-Move Motion Planner7.5.4 Comparing the Three Motion Planners; 7.6 Implementation; References; 8 Conclusions