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Comparison of Serial and Quasi-Serial Industrial Robots for Isotropic Tasks

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Part of the CISM International Centre for Mechanical Sciences book series (CISM,volume 569)

Abstract

The paper presents a new approach for comparison of serial and quasi-serial robots in industrial applications. In contrast to other works, it is based on evaluation of maximum compliance errors in the working area for isotropic tasks. It is proved that for large-scale isotropic tasks quasi-serial manipulators with kinematic parallelograms are preferable, while for small task dimensions’ serial manipulators provide better accuracy.

Keywords

  • Industrial robot
  • Serial manipulator
  • Quasi-serial manipulator

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  • DOI: 10.1007/978-3-319-33714-2_47
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Correspondence to Alexandr Klimchik .

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© 2016 CISM International Centre for Mechanical Sciences

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Klimchik, A., Magid, E., Afanasyev, I., Pashkevich, A. (2016). Comparison of Serial and Quasi-Serial Industrial Robots for Isotropic Tasks. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_47

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  • DOI: https://doi.org/10.1007/978-3-319-33714-2_47

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33713-5

  • Online ISBN: 978-3-319-33714-2

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