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Cartesian parallel manipulators are in the intersection of two broader categories of manipulators: Cartesian and parallel. Cartesian manipulators are driven by mutually perpendicular linear actuators. They generally have a one-to-one correspondence between the linear positions of the actuators and the X, Y, Z position coordinates of the moving ...
A manipulator can move an object with up to 6 degrees of freedom (DoF), determined by 3 translation 3T and 3 rotation 3R coordinates for full 3T3R mobility. However, when a manipulation task requires less than 6 DoF, the use of lower mobility manipulators, with fewer than 6 DoF, may bring advantages in terms of simpler architecture, easier control, faster motion and lower cost. [2]
Packaging machinery (1 C, 50 P) T. Textile machinery (6 C, 33 P) ... C. Cartesian parallel manipulators; G. Grease fitting; Guarding of Machinery Convention, 1963; M.
Parallel manipulator – articulated robot or manipulator based on a number of kinematic chains, actuators and joints, in parallel. c.f. serial manipulator. Remote manipulator – manipulator under direct human control, often used for work with hazardous materials.
Multiple chains (limbs) connect the moving object to the base of parallel manipulators. [8] Most Cartesian coordinate robots are fully serial or a combination of serial and parallel connected linkages. However, there are some Cartesian coordinate robots that are fully parallel-connected. [9] [10] [11]
Parallel manipulator an articulated robot or manipulator based on a number of kinematic chains, actuators and joints, in parallel. c.f. serial manipulator. Pendant Any portable control device that permits an operator to control the robot from within the restricted envelope (space) of the robot. [4]
Remote manipulator – manipulator under direct human control, often used for work with hazardous materials. Serial manipulator – articulated robot or manipulator with a single series kinematic chain of actuators. c.f. parallel manipulator. Muting – deactivation of a presence-sensing safeguarding device during a portion of the robot cycle. [6]
The Denavit and Hartenberg notation gives a standard (distal) methodology to write the kinematic equations of a manipulator. This is especially useful for serial manipulators where a matrix is used to represent the pose (position and orientation) of one body with respect to another.