Part I Prerequisites.- 1 Generalities on parallel robots.- 1.1 Introduction.- 1.2 General definitions.- 1.3 Types of PKM architectures.- 1.4 Why a book dedicated to the dynamics of parallel robots?.- 2 Homogeneous transformation matrix.- 2.1 Homogeneous coordinates and homogeneous transformation matrix.- 2.2 Elementary transformation matrices.- 2.3 Properties of homogeneous transformation matrices.- 2.4 Parameterization of the general matrices of rotation.- 3 Representation of velocities and forces... Mehr