Path Planning in the Case of PKM with Hybrid Topology
Parallel robots have often been used during the last decade because of their advantages, such as: good dynamic behavior, easiness of inverse kinematics, and higher accuracy etc. Despite those advantages, parallel robots are criticized in relation to their small work space, and not really modular topology and complex mechanical architecture. Industrial experience has realized that the major disadvantage of parallel robots is the small dimension of work space. Strong economical reasons and all technical advantages of parallel robots recommend these robots to do tasks that are proper to machine tools.
Nin Bizys, Andrejus Henrikas Marcinkevicius
C. Brisan and M. Hiller, "Path Planning in the Case of PKM with Hybrid Topology", Solid State Phenomena, Vol. 113, pp. 291-295, 2006