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Erschienen in:
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2019 | OriginalPaper | Buchkapitel

1. Introduction: Lockable and Non-holonomic Joints

verfasst von : Patrick Grosch, Federico Thomas

Erschienen in: Parallel Robots With Unconventional Joints

Verlag: Springer International Publishing

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Abstract

A serial robot is a set of rigid bodies, or links, connected in series through actuated joints, which are typically either revolute (R) or prismatic (P) joints. One end of this serial chain of links is called the base and the other the end-effector. In a parallel robot, the end-effector (also known in this case as the moving platform) is connected to the fixed base through several serial chains. In this case, most of the joints are not actuated. These passive joints are typically either universal (U) or spherical (S) joints. Prismatic, revolute, universal, and spherical joints constitute the four major joints used in robotics (Fig.  1.1).

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Nächstes Kapitel Parallel Robots with Lockable Revolute Joints
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Metadaten
Titel
Introduction: Lockable and Non-holonomic Joints
verfasst von
Patrick Grosch
Federico Thomas
Copyright-Jahr
2019
Buch
Parallel Robots With Unconventional Joints

Print ISBN: 978-3-030-11303-2

Electronic ISBN: 978-3-030-11304-9

Copyright-Jahr: 2019

DOI
https://doi.org/10.1007/978-3-030-11304-9_1

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