What is a parallel manipulator used for?
A parallel manipulator is a mechanical system that uses several computer-controlled serial chains to support a single platform, or end-effector. Perhaps, the best known parallel manipulator is formed from six linear actuators that support a movable base for devices such as flight simulators.
What is a parallel manipulator describe its basic types?
Parallel manipulators are composed of multiple closed kinematic loops. Typically, these kinematic loops are formed by two or more kinematic chains that connect a moving platform to a base, where one joint in the chain is actuated and the other joints are passive.
What is the difference between parallel and serial manipulator?
Parallel manipulator vs. The basic differences between parallel manipulator (PM)and serial manipulators(SM) are structure and load carrying capacity, Serial manipulator carry less load compared to parallel manipulator due to cantilevered structure.
What is a spherical parallel manipulator?
A spherical parallel manipulator (SPM) is a mechanical device composed of a moving platform and a fixed platform connected to each other by means of two or more kinematic chains, the main virtue of which is that all points of the moving platform move on concentric spheres according to a point of the moving platform …
What is a planar manipulator?
Planar manipulator: A manipulator is called a planar manipulator if all the moving links move in planes parallel to one another. Spatial manipulator: A manipulator is called a spatial manipulator if at least one of the links of the mechanism possesses a general spatial motion.
What are cylindrical robots used for?
Cylindrical robots are used for assembly operations, handling of machine tools and die-cast machines, and spot welding. With its combined rotational joint, two rotary joints, and a linear joint, the spherical robot operates in the polar coordinate system to achieve a spherical-shaped work envelope.
Where are parallel robots used?
Examples of Applications Parallel robots have been used in the flight simu- lation industry for decades (Advani et al. 1999). All modern high-end flight simulators use paral- lel robots for their motion system. Parallel robots are also used in other motion simulation systems such as driving simulators (Garrott et al.
What is redundant manipulator?
A manipulator is termed kinematically redundant when it possesses more degrees of freedom than it is needed to execute a given task. Redundancy can be conveniently exploited to achieve more dexterous robot motions.
What is manipulator linkage?
Manipulators are composed of an assembly of links and joints. Links are defined as the rigid sections that make up the mechanism and joints are defined as the connection between two links. The device attached to the manipulator which interacts with its environment to perform tasks is called the end-effector.
What is 3R manipulator?
Abstract— The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The design parameters space is shown to be divided into five domains where all manipulators have the same number of cusps. Each separating surface is given as an explicit expression in the DH- parameters.
What is cylindrical manipulator?
The cylindrical manipulator base body has one revolute joint at the fixed frame, one cylindrical joint about the axis of rotation and one prismatic joint in the arm of the manipulator. The position of the end is defined by the extension of the arm, height of the arm and rotation of the main body axis.
What can be done with a parallel manipulator?
A parallel manipulator with three translational degrees of freedom for microfabrication of biomaterials was designed for a given workspace. The device was opportunely designed to mount the following biofabrication tools on its mobile platform: a pressure-driven extrusion tool, a piston-driven extrusion tool, and an electrospinning tool.
What does it mean to be manipulated in a relationship?
Manipulation in relationships is subtle, and because of this, it is difficult to see when it is happening. What does manipulation mean in a relationship? Psychological manipulation has been defined by social and clinical Ph.D. psychologist Dr. Harriet Braiker as a type of social influence.
What are some examples of manipulative behavior in a relationship?
Using the threat of suicide is, sadly, another typical behavior in a manipulative relationship. It combines a heavy hit of control, fear, and guilt to get you to remain. While it may be difficult for you, you must not be tricked by this threat.
How is the singularity of a parallel manipulator determined?
Singularity of parallel manipulators implies significantly more complicated problems compared to serial mechanisms. We use the inclusive orientation workspace, where for every position in a fixed surface, the moving platform is rotated in every possible orientation, to determine if a configuration is singular or not [37].