Basics of Robotics pp 153-196 | Cite as

# Platform Parallel Manipulators

## Abstract

Parallel manipulators are closed chains with one or more loops where only some kinematic pairs are actively controlled. The most common arrangement comprises a base connected via serial, parallel, or hybrid (serial-parallel) chains to the output link (platform). Actuated pairs provide the platform with the desired degrees of freedom (DOF) relative to the base. Fully parallel manipulators are characterized by six binary legs, each attached to the base and the platform through spherical joints. There may be up to six legs of controllable, variable length, providing the platform with a corresponding number of dofs. Each leg can be regarded as a serial manipulator with six revolutes, or five revolutes and one prismatic pair. Usually, three of the revolutes with intersecting axes in one point constitute the spherical joint at the platform, while two more constitute a universal joint at the base, i.e. the concatenation of two revolutes with intersecting axes. Of these six joints, only one is actuated.

## Keywords

Parallel Manipulator Revolute Joint Spherical Joint Platform Manipulator Stewart Platform## Preview

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