Understanding-Machines - Robotics

ABSTRACT

In the long run, the Parallel kinematic manipulators have a good advantage over the serial manipulators. That due to their higher stiffness and large load carrying capacity. These advantages have increased the uses of parallel mechanisms in various applications. This thesis addresses the issues on stiffness estimation. Comparatively, we present a simple and comprehensive approach to estimate the stiffness of a 3PRS mechanism.

Applications:

Similarly, Robots have many applications in the industry like the automobile industry.  Other applications include an automated production system. That is the pharmaceutical industry, process industry, packing industry and so on.

Likewise, the increasing dependence of industrial work on robotics is due to its cheaper manufacturing cost, efficiency, and accuracy. Applications are also dependent upon the type of links and joints. The actuators drive the links and joints in a robot manipulator. Parallel robots; on the other hand, have higher stiffness and precision as compared to the serial robots.

1.1 Robot Classification

In short, you can classify robots on the basis of various measures, they are:

  1. Degree of freedom
  2. Kinematic structure
  3. Work-space geometry
  4. Nature of Motion
  5. Control methods
  6. Accuracy and Repeat-ability

Identically, Kinematic is the most common and important property of the manipulators. We discuss it in detail:

1.1 Kinematic structure

Correspondingly, there are two main types of robots on the basis of Kinematics:

1. Serial robots
2. Parallel Robots

1.1.1 Serial Robots

Additionally, the serial robots are the serial manipulator. A series of links connect by joints that form an open kinematic chain. Their large work-space is the main advantage.

Also, they have a greater load because they carry actuators along each actuated joint. Inside the work-space, around six degrees of freedom. A robot manipulates an object to a desired position and orientation. We use the Kinematic analysis to develop the position and orientation of the end effector with reference to the fixed base.

1.1.1 Parallel Robots

Likely, the parallel robot also known as the parallel manipulator is well known for its higher accuracy and stiffness. In a parallel manipulators number of closed kinematic chains connect to the moving platform and fixed base. One of the joint in each limb is actuated. And the prismatic actuator, connected to the moving platform by passive revolute, spherical or a universal joint.

To Summarize:

Note: It is important that we understand how machines work. You can only beat the robotic revolution through creativity and innovation. You will need technology to supplement your creative ability.

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