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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]
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]
A full parallel 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 ...
A delta robot is a type of parallel robot [2] that consists of three arms connected to universal joints at the base. The key design feature is the use of parallelograms in the arms, which maintains the orientation of the end effector. [3] In contrast, a Stewart platform can change the orientation of its end effector. [3]
Serial manipulators are the most common industrial robots and they are designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector. Often they have an anthropomorphic arm structure described as having a "shoulder", an "elbow", and a "wrist".
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For serial manipulators this requires solution of a set of polynomials obtained from the kinematics equations and yields multiple configurations for the chain. The case of a general 6R serial manipulator (a serial chain with six revolute joints ) yields sixteen different inverse kinematics solutions, which are solutions of a sixteenth degree ...