Abstract
A geometric and kinematic study between two structures of robots was performed, respectively a mechanical anthropomorphic structure, with bars and gears, with four degree of freedom, (dof), redundant (4R), which canavoid obstacles and a parallel manipulator with translation on three axes (3T). This 3T structural solution allows rapid and precise movements, which are important characteristics for machine building industry. All these features make the parallel manipulator to be an attractive alternative to the serial ones for high precision operations in a limited workspace.
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