Abstract A serial robot is a set of rigid bodies, or links, connected in series through actuated joints, which are typically either revolute (R) or prismatic (P) joints. One end of this serial chain of links is called the base and the other the end-effector. In a parallel robot, the end-effector (also known in this case as the moving platform) is connected to the fixed base through several serial chains. In this case, most of the joints are not actuated. These passive joints are typically either universal (U) or spherical (S) joints. Prismatic, revolute, universal, and spherical joints constitute the four major joints used in robotics (Fig. 1.1).
Introduction: Lockable and Non-holonomic Joints
2019-01-01
18 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Parallel Robots with Lockable Revolute Joints
Springer Verlag | 2019
|Spherical Non-holonomic Joints
Springer Verlag | 2019
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