Performance Analysis of Two Robots one Serial 4R and one Parallel 3T

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 can avoid 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 762)
• Pages: 137-146
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.762.137
• Online since: May 2015
• Authors: Constantin 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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