Title :
Dualities between serial and parallel "321" manipulators
Author :
Bruyninckx, Herman
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium
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;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772577
