Hostname: page-component-cd9895bd7-gbm5v Total loading time: 0 Render date: 2024-12-27T21:50:11.314Z Has data issue: false hasContentIssue false
  • English
  • Français

Some comparisons of serial-driven and parallel-driven manipulators

Published online by Cambridge University Press:  09 March 2009

D. McCloy
D. McCloy
Affiliation:
Faculty of Science & Technology, University of Ulster, Newtownabbey, Antrim BT37 0QB (U.K.)
Get access Rights & Permissions [Opens in a new window]

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

Serial-Driven RobotParallel-Driven RobotCriteriaJoints
Type
R&D Profile Section
Information
Robotica , Volume 8 , Issue 4 , October 1990 , pp. 355 - 362
Copyright
Copyright © Cambridge University Press 1990

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Powell, I.L. “The kinematic analysis and simulation of the parallel topology manipulator” The Marconi Review 45, 226 (1982).Google Scholar
2.Hunt, K.H., “Structural kinematics of in-parallel-actuated robot arms” Mechanisms, Transmissions and Automation in Design 105, 705–712 (1983).CrossRefGoogle Scholar
3.Harris, D.M.J. and McCloy, D. “The power requirements of a parallel linkage robot manipulator” 4th Conference of the Irish Manufacturing CommitteeLimerick, Ireland (09, 1987).Google Scholar
4.Toyama, S. and Takano, M. “Study on speed up of robot motion” 11th International Symposium on Industrial Robots,Tokyo (1981).Google Scholar
5.Bajpai, A. and Roth, B. “Workspace and mobility of a closed loop manipulator” Int. J. Robotics Research 5, No 2, 131–142 (1986).CrossRefGoogle Scholar
6.Asada, H. and Ro, I.H., “Direct drive arms: progress in arm design” 15th International Symposium on Industrial Robots,Tokyo (1985).Google Scholar
7.Asada, H. & Youcef-Toumi, K. “Analysis and design of a direct-drive arm with a five-bar link parallel driven mechanism” 1984 American Control Conference,San Diego (06, 1984).CrossRefGoogle Scholar
8.McCloy, D. “Planar linkages for parallel-driven manipulators”. 4th Conference of the Irish Manufacturing Committee,Limerick, Ireland (09, 1987).Google Scholar
9.Beck, A.S. and McCloy, D., “A comparative study of the power requirements of several basic robot designs” 16th International Symposium on Industrial Robots,Brussels (10, 1986).Google Scholar