270:, which are positions where, for some trajectories of the movement, the variation of the lengths of the legs is infinitely smaller than the variation of the position. Conversely, at a singular position, a force (like gravity) applied on the end-effector induce infinitely large constraints on the legs, which may result in a kind of "explosion" of the manipulator. The determination of the singular positions is difficult (for a general parallel manipulator, this is an open problem). This implies that the workspaces of the parallel manipulators are, usually, artificially limited to a small region where one knows that there is no singularity.
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robot and the 3 orientation coordinates are in the constraint subspace. The motion subspace of lower mobility manipulators may be further decomposed into independent (desired) and dependent subspaces: consisting of `concomitant’ or `parasitic’ motion which is undesired motion of the manipulator. The debilitating effects of parasitic motion should be mitigated or eliminated in the successful design of lower mobility manipulators. For example, the Delta robot does not have parasitic motion since its end effector does not rotate.
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220:; a precision serial manipulator is a compromise between precision, complexity, mass (of the manipulator and of the manipulated objects) and cost. On the other hand, with parallel manipulators, a high rigidity may be obtained with a small mass of the manipulator (relatively to the charge being manipulated). This allows high precision and high speed of movements, and motivates the use of parallel manipulators in
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20:
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mobility and has proven to be very successful for rapid pick-and-place translational positioning applications. The workspace of lower mobility manipulators may be decomposed into `motion’ and `constraint’ subspaces. For example, 3 position coordinates constitute the motion subspace of the 3 DoF Delta
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A drawback of parallel manipulators, in comparison to serial manipulators, is their limited workspace. As for serial manipulators, the workspace is limited by the geometrical and mechanical limits of the design (collisions between legs maximal and minimal lengths of the legs). The workspace is also
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A further advantage of the parallel manipulator is that the heavy actuators may often be centrally mounted on a single base platform, the movement of the arm taking place through struts and joints alone. This reduction in mass along the arm permits a lighter arm construction, thus lighter actuators
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also have this movement under deliberate control by an actuator. A movement requiring several axes thus requires a number of such joints. Unwanted flexibility or sloppiness in one joint causes a similar sloppiness in the arm, which may be amplified by the distance between the joint and the
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obility. However, when a manipulation task requires less than 6 DoF, the use of lower mobility manipulators, with fewer than 6 DoF, may bring advantages in terms of simpler architecture, easier control, faster motion and lower cost. For example, the 3 DoF Delta robot has lower
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Parallel robots are usually more limited in the workspace; for instance, they generally cannot reach around obstacles. The calculations involved in performing a desired manipulation (forward kinematics) are also usually more difficult and can lead to multiple solutions.
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All these features result in manipulators with a wide range of motion capability. As their speed of action is often constrained by their rigidity rather than sheer power, they can be fast-acting, in comparison to serial manipulators.
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Most robot applications require rigidity. Serial robots may achieve this by using high-quality rotary joints that permit movement in one axis but are rigid against movement outside this. Any joint permitting movement
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behavior: the command which is needed for getting a linear or a circular movement of the end-effector depends dramatically on the location in the workspace and does not vary linearly during the movement.
43:. Perhaps, the best known parallel manipulator is formed from six linear actuators that support a movable base for devices such as flight simulators. This device is called a
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stiffness that makes the overall parallel manipulator stiff relative to its components, unlike the serial chain that becomes progressively less rigid with more components.
86:(or 'hand') of this linkage (or 'arm') is directly connected to its base by a number of (usually three or six) separate and independent linkages working simultaneously. No
144:: the links and their actuators feel only tension or compression, without any bending or torque, which again reduces the effects of any flexibility to off-axis forces.
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that move a light, stiff, parallelogram arm. The effector is mounted between the tips of three of these arms and again, it may be mounted with simple ball-joints.
106:, as for a serial robot; however in the parallel robot the off-axis flexibility of a joint is also constrained by the effect of the other chains. It is this
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102:. Errors in one chain's positioning are averaged in conjunction with the others, rather than being cumulative. Each actuator must still move within its own
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A parallel manipulator is designed so that each chain is usually short, simple and can thus be rigid against unwanted movement, compared to a
128:. The ball joints are passive: simply free to move, without actuators or brakes; their position is constrained solely by the other chains.
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1555:"Optimization of 3-DoF Manipulators' Parasitic Motion with the Instantaneous Restriction Space-Based Analytic Coupling Relation"
573:"Optimization of 3-DoF Manipulators' Parasitic Motion with the Instantaneous Restriction Space-Based Analytic Coupling Relation"
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Structural
Synthesis of Parallel Robots, Part 2: Translational topologies with Two and Three Degrees of Freedom
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488:, Mechanisms and Machine Science, vol. 83, Cham: Springer International Publishing, pp. 242–252,
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end-effectuor: there is no opportunity to brace one joint's movement against another. Their inevitable
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1514:"Analysis of parasitic motion with the constraint embedded Jacobian for a 3-PRS parallel manipulator"
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532:"Analysis of parasitic motion with the constraint embedded Jacobian for a 3-PRS parallel manipulator"
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Device for the movement and positioning of an element in space, R. Clavel - US Patent 4,976,582, 1990
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or the Gough-Stewart platform in recognition of the engineers who first designed and used them.
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that use similar mechanisms for the movement of either the robot on its base, or one or more
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70:, the actuators are paired together on both the basis and the platform), these systems are
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Nigatu, Hassen; Yihun, Yimesker (2020), Larochelle, Pierre; McCarthy, J. Michael (eds.),
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in high speed, high-accuracy positioning with limited workspace, such as in assembly of
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and faster movements. This centralisation of mass also reduces the robot's overall
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Over-actuated planar parallel manipulator simulated with MeKin2D.
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Proceedings of the 2020 USCToMM Symposium on
Mechanical Systems and Robotics
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Prototype of "PAR4", a 4-degree-of-freedom, high-speed, parallel robot.
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as micro manipulators mounted on the end effector of larger but slower
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Kinematic
Analysis of Parallel Manipulators by Algebraic Screw Theory
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482:"Algebraic Insight on the Concomitant Motion of 3RPS and 3PRS PKMS"
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Proc 18th Int Symp Ind Robots; Sydney, Australia (1988), pp. 91-100
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representation of a parallel robot is often akin to that of a
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Hexapod positioning systems, also known as
Stewart Platforms.
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Structural
Synthesis of Parallel Robots, Part 1: Methodology
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This mutual stiffening also permits simple construction:
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Abstract render of a
Hexapod platform (Stewart Platform)
1512:
Nigatu, Hassen; Choi, Yun Ho; Kim, Doik (2021-10-01).
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Nigatu, Hassen; Choi, Yun Ho; Kim, Doik (2021-10-01).
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and off-axis flexibility accumulates along the arm's
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Major industrial applications of these devices are:
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arms. Their 'parallel' distinction, as opposed to a
273:Another drawback of parallel manipulators is their
236:(very high precision in positioning large masses).
420:Industrial Robotics: Theory, Modelling and Control
750:
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422:, Pro Literatur Verlag, Germany / ARS, Austria,
347:Two examples of popular parallel robots are the
414:Di, Raffaele (2006-12-01), Cubero, Sam (ed.),
168:A manipulator can move an object with up to 6
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152:, which may be an advantage for a mobile or
669:Parallel manipulator with parasitic motion.
623:"Sketchy, a home-constructed drawing robot"
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468:Delta: a fast robot with parallel geometry,
416:"Parallel Manipulators with Lower Mobility"
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224:(high speed with rather large masses) and
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1553:Nigatu, Hassen; Kim, Doik (2021-01-01).
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605:"DexTAR - an educational parallel robot"
571:Nigatu, Hassen; Kim, Doik (2021-01-01).
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777:Parallel Mechanisms Information Center
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1221:Simultaneous localization and mapping
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732:Type Synthesis of Parallel Mechanisms
1531:10.1016/j.mechmachtheory.2021.104409
691:
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637:"Active and Passive Fiber Alignment"
549:10.1016/j.mechmachtheory.2021.104409
312:They have also become more popular:
172:(DoF), determined by 3 translation
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194:Comparison to serial manipulators
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39:to support a single platform, or
37:computer-controlled serial chains
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730:Kong, X.; Gosselin, C. (2007).
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370:Cartesian parallel manipulators
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751:Gallardo-Alvarado, J. (2016).
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328:as high speed/high-precision
64:generalized Stewart platforms
1518:Mechanism and Machine Theory
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787:References on parallel robot
713:Parallel Robots, 2nd Edition
536:Mechanism and Machine Theory
494:10.1007/978-3-030-43929-3_22
391:Parallel Robots, 2nd Edition
266:limited by the existence of
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1231:Vision-guided robot systems
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124:between any-axis universal
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1451:Technological unemployment
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1439:Workplace robotics safety
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782:What is a parallel robot?
16:Type of mechanical system
1287:Human–robot interaction
88:geometrical parallelism
692:Gogu, Grigore (2009).
673:Gogu, Grigore (2008).
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1393:Starship Technologies
711:Merlet, J.P. (2008).
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389:Merlet, J.P. (2008).
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295:automobile simulators
258:, a portrait-drawing
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234:particle accelerators
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180:coordinates for full
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1597:Articulated robotics
1343:Energid Technologies
117:hexapods chains use
29:parallel manipulator
1572:10.3390/app11104690
1434:Powered exoskeleton
590:10.3390/app11104690
324:serial manipulators
1403:Universal Robotics
1378:Intuitive Surgical
1368:Harvest Automation
1333:Barrett Technology
1115:Robotic spacecraft
961:Audio-Animatronics
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170:degrees of freedom
132:have base-mounted
100:serial manipulator
80:serial manipulator
72:articulated robots
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35:that uses several
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1444:Robotic tech vest
1373:Honeybee Robotics
1189:Electric unicycle
1142:remotely-operated
762:978-3-319-31124-1
741:978-3-540-71989-2
722:978-1-4020-4132-7
703:978-1-4020-9793-5
684:978-1-4020-5102-9
503:978-3-030-43928-6
439:978-3-86611-285-8
400:978-1-4020-4132-7
298:in work processes
291:flight simulators
222:flight simulators
150:moment of inertia
142:pin-jointed truss
104:degree of freedom
33:mechanical system
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122:linear actuators
115:Stewart platform
68:Stewart platform
45:Stewart platform
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1247:Evolutionary
1194:Robotic fins
1147:Robotic fish
1132:Telerobotics
1105:Nanorobotics
1095:Mobile robot
1032:Food service
1027:Agricultural
877:Competitions
862:Hall of Fame
755:. Springer.
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1267:Open-source
1120:Space probe
1110:Necrobotics
1100:Microbotics
1063:Biorobotics
992:Educational
975:Articulated
956:Animatronic
941:Claytronics
466:R. Clavel,
353:Delta robot
260:delta robot
126:ball joints
108:closed-loop
76:manipulator
1586:Categories
1524:: 104409.
1307:Ubiquitous
1297:Perceptual
1204:Navigation
1159:Locomotion
1137:Underwater
1022:Disability
970:Industrial
647:2007-03-29
625:. Jarkman.
542:: 104409.
517:2020-12-13
445:2020-12-03
376:References
214:hysteresis
1540:0094-114X
1358:Figure AI
1316:Companies
1292:Paradigms
1277:Adaptable
1257:Simulator
951:Automaton
946:Companion
857:Geography
558:0094-114X
512:218789290
308:alignment
302:photonics
275:nonlinear
1480:Category
1398:Symbotic
1348:FarmWise
1302:Situated
1272:Software
1240:Research
1184:Climbing
1007:Military
1002:Juggling
987:Domestic
919:Humanoid
842:Glossary
823:Robotics
359:See also
351:and the
245:five-bar
66:(in the
1492:Outline
1422:Related
1413:Yaskawa
1328:Anybots
1208:mapping
1177:Hexapod
1172:Walking
1017:Service
1012:Medical
924:Android
909:Aerobot
852:History
837:Outline
256:Sketchy
1538:
1383:IRobot
1167:Tracks
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1353:FANUC
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1127:Swarm
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847:Index
508:S2CID
62:, or
31:is a
1536:ISSN
1388:KUKA
1252:Kits
1206:and
872:Laws
757:ISBN
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