الفهرس 
INTRODUCTIONOnly 14 pages are availabe for public view
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Abstract
to overcome the majority of disadvantages of serial industrial manipulators , attention has been given to the platform type parallel manipulators with improved rigidity and precision called ” stewart – platform- type parallel manipulator which the majority of parallel manipulators are steamed from . this research is titled by kinematics analysis of stewart platform – type parallel ,anipulators the original stewart arrangement is presented and followed by a comparison between serial and parallel manipulators the mostly used applications of platform type parallel manipulators are stated in chapter one .
a complete and comprehensive type synthesis of platform-type parallel manipulators is carried out in chapter two . an enumeration of platform-type parallel manipulators mechanical architecture are presented . the geometry of each mechanical architecture is studied and its advantages and disadvantages are derived A comparison between different classes are then presented as well as examples of the use of practical robots for various divers applications various techniques for kinematic analysis of riged bodies are then reviewed in chapter three .
both types of kinematics analyses of manipulators , direct ( forward) and inverse , are defined .A systematic and extensive vector- based procedure for the inverse kinematic and extensive vector-based procedure for the inverse kinematic analysis that can be applied to any platform type parallel manipulator is developed in chapter two