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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.)
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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

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References

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