DocumentCode
339601
Title
Dualities between serial and parallel "321" manipulators
Author
Bruyninckx, Herman
Author_Institution
Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium
Volume
2
fYear
1999
fDate
1999
Firstpage
1532
Abstract
This paper presents dualities between the "elbow manipulator" architecture for serial robot arms, and the parallel "321" architecture. These dualities go beyond the well-known twist-wrench dualities, and include topological, singularity and assembly mode dualities.
Keywords
Jacobian matrices; assembling; industrial manipulators; manipulator kinematics; topology; Jacobian matrix; assembly mode duality; kinematics; parallel chain; parallel manipulators; screw theory; serial chain; serial manipulators; serial robot arms; singularity; topology; twist-wrench duality; Acceleration; Computational geometry; Jacobian matrices; Leg; Manipulators; Mechanical engineering; Parallel robots; Robot kinematics; Robotic assembly; World Wide Web;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.772577
Filename
772577
Link To Document