**Meet the editor**

Dr. Serdar Kucuk was born in the eastern region (Mus) of Turkey in 1970. He received the BA and MSc degree in Electronics & Computer Department from Marmara University (1995) and in Electronic & Telecommunication Department from Marmara University (1998), Istanbul, Turkey, respectively, and the Ph.D. degree in Electrical Education Department of Kocaeli University

(2004) in Turkey. He became an assistant professor in 2005 and associate professor in 2011 at the Kocaeli University. He has several scientific publications including international conference papers, journal papers, books and book chapters. He currently serves as an Editorial Board Member of the International Journal of Advanced Robotic Systems. His research interests are optimization, control, kinematics and dynamics modeling of serial and parallel robotic manipulators.

Contents

**Preface IX** 

Serdar Küçük

Chapter 2 **Dynamic Modeling and** 

Chapter 3 **Exploiting Higher Kinematic** 

Chapter 5 **On the Stiffness Analysis and** 

Alessandro Cammarata

Chapter 6 **Parallel, Serial and Hybrid Machine Tools** 

Chapter 7 **Design and Postures of a Serial Robot** 

David Úbeda, José María Marín, Arturo Gil and Óscar Reinoso

**and Robotics Structures: Comparative Study on Optimum Kinematic Designs 109** 

Khalifa H. Harib, Kamal A.F. Moustafa, A.M.M. Sharif Ullah and Salah Zenieh

**Part 1 Kinematics and Dynamics 1** 

Chapter 1 **Inverse Dynamics of RRR Fully Planar** 

Mohammad H. Abedinnasab, Yong-Jin Yoon and Hassan Zohoor

Chapter 4 **Kinematic and Dynamic Modelling of Serial** 

R. Tapia Herrera, Samuel M. Alcántara, Jesús A. Meda C. and Alejandro S. Velázquez

**Parallel Manipulator Using DH Method 3** 

**Performance – Using a 4-Legged Redundant PM Rather than Gough-Stewart Platforms 43** 

**Robotic Manipulators Using Dual Number Algebra 67** 

**Elastodynamics of Parallel Kinematic Machines 85** 

**Composed by Closed-Loop Kinematics Chains 125** 

**Simulation of Stewart Platform 19**  Zafer Bingul and Oguzhan Karahan
