A Comparative Study on Geometric and Kinematic Parameters of Serial (4R) and Parallel (3T) Robots

Abstract:

A geometric and kinematic study between two structures of robots was performed, respectively a mechanical anthropomorphic structure, with bars and gears, with four degree of freedom, (dof), redundant (4R), which canavoid obstacles and a parallel manipulator with translation on three axes (3T). This 3T structural solution allows rapid and precise movements, which are important characteristics for machine building industry. All these features make the parallel manipulator to be an attractive alternative to the serial ones for high precision operations in a limited workspace.

• Periodical: Applied Mechanics and Materials (Volume 555)
• Pages: 239-248
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.555.239
• Online since: June 2014
• Authors: Constantin Ocnărescu*, Ion Simionescu, Viorel Vulturescu, Maria Ocnărescu
• Keywords: Dynamic Parameters, Kinematics Parameters, Monitoring, Parallel Manipulator, Platform, Redundant Robot, Restrictive Parameters, Serial Manipulator, Type 3T, Type 4R, Workspace

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