Parallel or
Serial Mechanism?
A comparison
Parallel or
Serial Mechanism?
A comparison
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So how do you choose which
robot type suits your application? Here is a brief summary of the major
advantages and some disadvantages of parallel mechanisms:
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| Bending stresses in the arm-links are much lower for parallel robots; in the case of the Delta-4 and NUWAR, purely axial forces exist in the forearms whilst the machine is static | The workspace for a given size robot is smaller for parallel robots - the motivation for NUWAR! |
| Deflections due to stresses in the arms are much smaller as a result, hence parallel mechanisms offer far superior stiffness and accuracy | Obstacle avoidance is more difficult with parallel mechanisms. Serial robots therefore appear more suited to "reach-around" and "reach-through" tasks |
| Since the mobile mass is much lower, parallel robots are very well suited to fast, light-weight tasks | |
| As a result of having more than one serial chain supporting a given load, parallel mechanisms exhibit greater load bearing capacity for a given size |
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more history
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Department of Mechanical and Materials Engineering
The University of Western Australia
Nedlands, Perth, Western Australia 6009
WEB DESIGN: ZEIKE TAYLOR
zeike@tartarus.uwa.edu.au