Parallel manipulator

Parallel manipulator

A parallel manipulator consists of a fixed "base" platform, connected to an end effector platform by means of a number of "legs". These legs often consist of an actuated prismatic joint, connected to the platforms through passive (i.e. not actuated) spherical and/or universal joints. Hence, the links feel only traction or compression, not bending, which increases their position accuracy and allows a lighter construction.The actuators for the prismatic joints can be placed in the motionless base platform, so that their mass does not have to be moved, which again makes the construction lighter.
Parallel manipulators have (in principle) high structural stiffness, since the end effector is supported in several places at the same time.All these features result in manipulators with a wide range of motion capability.Their major drawback is their limited workspace, because the legs can collide and, in addition, each leg has five passive joints that each have their own mechanical limits. Another drawback of Parallel Robots is that they lose stiffness in singular positions completely (The robot gains finite or infinite degrees of freedom which are uncontrolable; it becomes shaky or mobile). This means that the Jacobian matrix, which is the mapping from joint space to euclidian space, becomes singular (the rank decreases from six).

Applications

Major industrial applications of these devices are
* airplane simulators
* automobile simulators
* in work processes
* photonics / fiber alignment http://www.pb.izm.fhg.de/p2sa/020_Technologies/Optik/FundE_Faserjustage.htmlThey also become more popular
* in high speed, high-accuracy positioning with limited workspaces, such as in assembly of PCBs
* as micro manipulators mounted on the end effector of larger but slower serial manipulators
* as high speed/high-precision milling machines

ee also

* Serial Manipulator
* Robot kinematics


Wikimedia Foundation. 2010.

Игры ⚽ Поможем сделать НИР

Look at other dictionaries:

  • Serial manipulator — [ KUKA robots. In front is shown a 6 axis serial manipulator; behind it is a 4 axis palletizer.] Serial manipulators are by far the most common industrial robots. Often they have an anthropomorphic mechanical arm structure, i.e. a serial chain of …   Wikipedia

  • Outline of robotics — See also: Index of robotics articles The following outline is provided as an overview of and topical guide to robotics: Robotics – branch of technology that deals with the design, construction, operation, structural disposition, manufacture and… …   Wikipedia

  • Robot kinematics — is the study of the motion (kinematics) of robots. In a kinematic analysis the position, velocity and acceleration of all the links are calculated without considering the forces that cause this motion. The relationship between motion, and the… …   Wikipedia

  • Stewart platform — A Stewart platform is a kind of parallel manipulator using an octahedral assembly of struts. A Stewart platform has six degrees of freedom (x, y, z, pitch, roll, yaw).DevelopmentThe Stewart platform was first reported in a paper by V. E. Gough… …   Wikipedia

  • Topic outline of robotics — Robotics is the science and technology of designing, making, and applying robots, including theory from many contributing fields. A robot is a mechanical or virtual, artificial . It is usually an electromechanical system, which, by its appearance …   Wikipedia

  • Robot calibration — is the process of identifying the real geometrical parameters in the kinematic structure of an industrial robot (IR), i.e., the relative position and orientation of links and joints in the robot.A calibrated robot has a higher absolute… …   Wikipedia

  • Hexapod (robotics) — A six legged walking robot should not be confused with a Stewart platform, a kind of parallel manipulator used in robotics applications A hexapod robot is a mechanical vehicle that walks on six legs. Since a robot can be statically stable on… …   Wikipedia

  • Kinematic chain — A kinematic chain is the assembly of several kinematic pairs connecting rigid body segments. The complexity (in terms of calculating the forward and inverse kinematics) of the chain is determined by the following factors: * Its topology: a serial …   Wikipedia

  • List of Doctor Who items — This is a list of items from the BBC television series Doctor Who. Contents: Top · 0–9 A B C D E F G H I J K L M N O P Q R S T U V W X Y Z 0–9 …   Wikipedia

  • List of Torchwood items — This is a list of extraterrestrial, supernatural, otherworldly and futuristic items featured in the BBC science fiction drama Torchwood and its spin off media. 0 93 D glassesanchor|3 D glassesOriginally used by the Tenth Doctor in Doomsday to… …   Wikipedia

Share the article and excerpts

Direct link
Do a right-click on the link above
and select “Copy Link”