SOME COMPARISONS OF SERIAL-DRIVEN AND PARALLEL-DRIVEN MANIPULATORS

被引：27

作者：

MCCLOY, D

机构：

[1] Faculty of Science & Technology, University of Ulster, Newtownabbey

来源：

ROBOTICA | 1990年 / 8卷

关键词：

Criteria; Joints; Parallel-Driven; Robot; Serial-Driven Robot;

D O I：

10.1017/S0263574700000485

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A two-dimensional serial-driven manipulator is compared with two different parallel-driven manipulators, using workspace, power requirements and stiffness as criteria. The parallel-driven devices are based on the planar five-bar linkage; one has four revolute joints and one prismatic joint; the other has five revolute joints. Parallel operation is shown to offer advantages. © 1990, Cambridge University Press. All rights reserved.

引用

页码：355 / 362

页数：8

共 9 条

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