Some comparisons of serial-driven and parallel-driven manipulators
- 1 April 1990
- journal article
- r and-d-profile-section
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 8 (4) , 355-362
- https://doi.org/10.1017/s0263574700000485
Abstract
SUMMARY A two-dimensional serial-driven manipulator is compared with two different parallel-driven manipulators, using workspace, power requirements and stiffness as criteria. The parallel-driven devices are based on the planar five-bar linkage; one has four revolute joints and one prismatic joint; the other has five revolute joints. Parallel operation is shown to offer advantages.Keywords
This publication has 3 references indexed in Scilit:
- Workspace and Mobility of a Closed- Loop ManipulatorThe International Journal of Robotics Research, 1986
- Analysis and Design of a Direct-Drive Arm With a Five-Bar-Link Parallel Drive MechanismJournal of Dynamic Systems, Measurement, and Control, 1984
- Structural Kinematics of In-Parallel-Actuated Robot-ArmsJournal of Mechanical Design, 1983