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A new insight into the duality between serial and parallel non-redundant and redundant manipulators

Published online by Cambridge University Press:  05 July 2001

Florian Gosselin  and
Jean-Paul Lallemand
Florian Gosselin
Affiliation:
Commissariat à l'Energie Atomique, Service Robotique et Systèmes Interactifs, Route du Panorama – BP6, 92265 Fontenay aux Roses Cedex (France). gosselin@ortolan.cea.fr
Jean-Paul Lallemand
Affiliation:
Laboratoire de Mécanique des Solides, SP2MI – Bd 3 – Téléport 2 – BP 179. 86960 Futuroscope Cedex (France).
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Abstract

This paper describes detailed velocity kinematics and the statics of serial and parallel robots. Without resorting to the screw theory, the duality between these two types of robots is demonstrated. This duality concerns operational speeds of serial robots and operational forces of parallel robots, as well as internal speeds in redundant serial robots and internal forces in redundant parallel robots. This approach allows a deeper understanding of the duality between these two types of robots, particularly when they are redundant.

Keywords

KinetostaticsDualityRedundancyParallel robots
Type
Research Article
Information
Robotica , Volume 19 , Issue 4 , July 2001 , pp. 365 - 370
Copyright
© 2001 Cambridge University Press

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