Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 32

A parallel manipulator is one in which some subset of the links form a closed chain. More specifically, a parallel manipulator has two or more kinematic chains connecting the base to the end effector. Figure 1.17 shows the ABB IRB360 robot, which is a parallel manipulator. The closed-chain kinematics of parallel robots can result in greater structural rigidity, and hence greater accuracy, than open chain robots. The kinematic description of parallel robots is fundamentally different from that of serial link robots and therefore requires different methods of analysis.

Figure 1.17 The ABB IRB360 parallel robot. Parallel robots generally have higher structural rigidity than serial link robots. (Photo courtesy of ABB.)