ARE PARALLEL ROBOTS MORE ACCURATE THAN SERIAL ROBOTS?

Are Parallel Robots More Accurate than Serial Robots?

It is widely claimed that parallel robots are intrinsically more accurate than serial robots because their errors are averaged instead of added cumulatively, an assertion which has not been properly addressed in the literature. This paper addresses this void by comparing the kinematic accuracy of two pairs of serialparallel 2-DOF planar robots. Only input errors are considered and all robots ar...

Serial robots

Comparison of the Characteristics between Serial and Parallel Robots

This paper gives survey of the position analysis, jacobian and singularity analysis, stiffness analysis, dynamics and applications of serial and parallel robots. Also a detailed comparison of the characteristics of serial and parallel robots and their advantages and disadvantages are presented.

Unified Kinetostatics for Serial, Parallel and Mobile Robots

This paper summarizes the description of the statics and velocity kinematics of serial, parallel and mobile robots, based on the fundamental concepts of twists and wrenches, reciprocity, the “selectively non-reciprocal screw,” and “kinematic dualities.” This approach leads to a simplified since unified treatment of serial, parallel and mobile robot kinematics (which robotics textbooks lack) and...

Parallel robots ∗

8 Forward position kinematics 20 8.1 General parallel structure . . . . . . . . . . . . . . . . . . . . . . 20 8.2 FPK by leg length error minimization . . . . . . . . . . . . . . . 21 8.3 Closed-form FPK for 321 structure . . . . . . . . . . . . . . . . . 22 8.4 Closed-form FPK: sensing redundancy . . . . . . . . . . . . . . . 24 ∗This Chapter uses material from the Chapters on Serial robots a...