Serial robots
نویسنده
چکیده
منابع مشابه
Stiffness control of a legged robot equipped with a serial manipulator in stance phase
The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...
متن کاملUnified Kinetostatics for Serial, Parallel and Mobile Robots
This paper summarizes the description of the statics and velocity kinematics of serial, parallel and mobile robots, based on the fundamental concepts of twists and wrenches, reciprocity, the “selectively non-reciprocal screw,” and “kinematic dualities.” This approach leads to a simplified since unified treatment of serial, parallel and mobile robot kinematics (which robotics textbooks lack) and...
متن کاملAre Parallel Robots More Accurate than Serial Robots?
It is widely claimed that parallel robots are intrinsically more accurate than serial robots because their errors are averaged instead of added cumulatively, an assertion which has not been properly addressed in the literature. This paper addresses this void by comparing the kinematic accuracy of two pairs of serialparallel 2-DOF planar robots. Only input errors are considered and all robots ar...
متن کاملComparison of the Characteristics between Serial and Parallel Robots
This paper gives survey of the position analysis, jacobian and singularity analysis, stiffness analysis, dynamics and applications of serial and parallel robots. Also a detailed comparison of the characteristics of serial and parallel robots and their advantages and disadvantages are presented.
متن کاملDual Quaternion Synthesis of a Parallel 2-tpr Robot
This paper presents a synthesis methodology for parallel robots based on the dual quaternion synthesis of serial constrained robots, that is, serial robots with less than six degrees of freedom. This methodology uses a dual quaternion formulation of the kinematics equations. The goal of the synthesis problem is to determine the dimensions of the robot from a specification of its workspace. The ...
متن کاملSingularity analysis of a class of composite serial in-parallel robots
This paper presents the singularity analysis of a family of 14 composite serial in-parallel six degree-of-freedom robots, having a common parallel submechanism. The singular configurations of this class of robots are obtained by applying line geometry methods to a single, augmented Jacobian matrix whose rows are Plücker coordinates of the lines governing the submechanism motion. It is shown tha...
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تاریخ انتشار 2005