Abstract
Parallel robots often show superior accuracy, performance and load capacity alongside with a fairly simple control. Robot designs featuring kinematic and dynamic decoupling of motion, additionally improve the dynamic characteristics and further simplify the control algorithms. Parallel robots with 3D translatory motion of the end-effector (including micro-manipulator design variants) can be considered as mechatronic systems combining these advantages.
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Notes
- 1.
DOFÂ =Â degree of freedom.
- 2.
Here robots with 3D translational motion of the end-effector are considered.
- 3.
The bodies are considered rigid, connected by ideal kinematic pairs (joints) with no clearances. No stiffness, damping or friction are taken into account.
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Parikyan, T. (2018). Design of Decoupled Parallel Robots. In: Arakelian, V. (eds) Dynamic Decoupling of Robot Manipulators. Mechanisms and Machine Science, vol 56. Springer, Cham. https://doi.org/10.1007/978-3-319-74363-9_7
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DOI: https://doi.org/10.1007/978-3-319-74363-9_7
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