TY - JOUR
T1 - Structures and characteristics of parallel manipulators
AU - Uchiyama, Masaru
N1 - Funding Information:
This research was supported by the International Scientific Research Program under the Project Number 02044013, and the Special Promoted Research Project under the Project Number 03102001 of the Grand-in-Aid for Scientific Research from the Ministry of Education, Science and Culture. English translation of this paper was helped by Mr. Kazuyuki Masukawa, Mr. Tetsuya Sadotomo, and Dr. Praveen Bhatia. The author acknowledges these supports and help.
PY - 1993
Y1 - 1993
N2 - Parallel structures have remarkable characteristics such as high precision, high load capacity, high rigidity and high speed. Therefore, they have received a lot of attention as alternative structures for robot manipulators. This paper reviews the recent results on properties of the parallel manipulator. First, the basics of the link mechanism, which is necessary to understand the structure of the parallel manipulator, is summarized before the structure of the parallel manipulator is defined. Then, the parallel manipulator is compared with the serial manipulator. The singular point of the parallel manipulator and the optimum design of the structure of the parallel manipulator are also discussed.
AB - Parallel structures have remarkable characteristics such as high precision, high load capacity, high rigidity and high speed. Therefore, they have received a lot of attention as alternative structures for robot manipulators. This paper reviews the recent results on properties of the parallel manipulator. First, the basics of the link mechanism, which is necessary to understand the structure of the parallel manipulator, is summarized before the structure of the parallel manipulator is defined. Then, the parallel manipulator is compared with the serial manipulator. The singular point of the parallel manipulator and the optimum design of the structure of the parallel manipulator are also discussed.
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U2 - 10.1163/156855394X00248
DO - 10.1163/156855394X00248
M3 - Article
AN - SCOPUS:0028695055
SN - 0169-1864
VL - 8
SP - 545
EP - 557
JO - Advanced Robotics
JF - Advanced Robotics
IS - 6
ER -