Abstract It has been shown how the substitution of ordinary joints with lockable revolute joints ( joints) or non-holonomic spherical joints ( 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 RPS spatial reconfigurable robot (Chap. 2 ), the 3 PU spatial non-holonomic robot (Chaps. 4 and 5 ), and the S-2SPS spherical non-holonomic robot (Chaps. 6 and 7 ).
Conclusions
2019-01-01
3 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Springer Verlag | 2011
|Springer Verlag | 2021
|Springer Verlag | 2013
|Springer Verlag | 2012
|Springer Verlag | 2020
|