Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 22

Most industrial manipulators at the present time have six or fewer DOF. These manipulators are usually classified kinematically on the basis of the first three joints of the arm, with the wrist being described separately. The majority of these manipulators fall into one of five geometric types: articulated (RRR), spherical (RRP), SCARA (RRP), cylindrical (RPP), or Cartesian (PPP). We discuss each of these below in Section 1.3.

Each of these five manipulator arms is a serial link robot. A sixth distinct class of manipulators consists of the so-called parallel robot. In a parallel manipulator the links are arranged in a closed rather than open kinematic chain. Although we include a brief discussion of parallel robots in this chapter, their kinematics and dynamics are more difficult to derive than those of serial link robots and hence are usually treated only in more advanced texts.