Abstract It has been shown how the substitution of ordinary joints with lockable revolute joints ( R b joints) or non-holonomic spherical joints ( S n joints), which we have referred here to as unconventional joints, provide lower-mobility parallel robots with interesting features. One important common characteristic of this kind of robots is that they can approximate, in general, trajectories for their moving platform in a configuration space of dimension higher than the number of their continuously actuated joints. In this monograph, the kinematics of the following three robots have been analyzed: the 4 R b RPS spatial reconfigurable robot (Chap.  2 ), the 3 S n PU spatial non-holonomic robot (Chaps.  4 and 5 ), and the S-2SPS spherical non-holonomic robot (Chaps.  6 and 7 ).


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    Titel :

    Conclusions


    Beteiligte:


    Erscheinungsdatum :

    2019-01-01


    Format / Umfang :

    3 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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