Abstract
This paper presents the comparison between serial and parallel manipulators. Day by day, the applications of the parallel manipulator in various field is become apparent and with a rapid rate utilized in precise manufacturing, medical science and in space exploration equipments. A parallel manipulator can be defined as a closed loop kinematic chain mechanism whose end effector is linked to the base by several independent kinematic chains. The classification of various parallel manipulators is presented herewith. The prime focus of the paper is to realize the parallel manipulators applications for industry, space, medical science or commercial usage by orienting manipulator in the space at the high speed with a desired accuracy.
Highlights
Parallel manipulators are widely popular recently even though conventional serial manipulators possess large workspace and dexterous maneuverability
This paper presents the comparison between serial and parallel manipulators
A parallel manipulator can be defined as a closed loop kinematic chain mechanism whose end effector is linked to the base by several independent kinematic chains
Summary
Parallel manipulators are widely popular recently even though conventional serial manipulators possess large workspace and dexterous maneuverability. In applications demanding high load carrying capacity and precise positioning, the parallel manipulators are the better alternatives and the last two decades points to the potential embedded in this structure that has not yet been fully exploited. This paper highlights the potential applications of parallel manipulators include mining machines, walking machines, both terrestrial and space applications including areas such as high speed manipulation, material handling, motion platforms, machine tools, medical fields, planetary exploration, satellite antennas, haptic devices, vehi-. Cle suspensions, variable-geometry trusses, cable-actuated cameras, and telescope positioning systems and pointing devices. They have been used in the development of high precision machine tools [4] by many companies such as Giddings & Lewis, Ingersoll, Hexel, Geodetic and Toyoda, and others. The Hexapod machine tool [5,6] is one of the widely used parallel manipulators for various industries
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