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Dynamics of Parallel Robots pp 147–190Cite as

Planar Parallel Robots

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Part of the book series: Parallel Robots: Theory and Applications ((PRTA))

Abstract

Symmetric parallel mechanisms for which the number of chains is strictly equal to the number of degrees of freedom of the end-effectors are called fully parallel manipulators. Planar parallel robots are useful for manipulating an object on a plane. A mechanism is said to be a planar robot if all the moving links in the mechanism perform planar motions. For a planar mechanism, the loci of all points in all links can be drawn conveniently on a plane. In a planar linkage, the axes of all revolute joints must be normal to the plane of motion, while the direction of translation of a prismatic joint must be parallel to the plane of motion.

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Authors and Affiliations

  1. Department of Mechanics, University Politehnica of Bucharest, Bucharest, Romania

    Stefan Staicu

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  1. Stefan Staicu
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Correspondence to Stefan Staicu .

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Staicu, S. (2019). Planar Parallel Robots. In: Dynamics of Parallel Robots. Parallel Robots: Theory and Applications. Springer, Cham. https://doi.org/10.1007/978-3-319-99522-9_8

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