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Comparative Study On Serial and Parallel Manipulators - Review

This document compares the characteristics of serial and parallel robots. Serial robots have links arranged in series, with each joint connected to the next. They are the most common type of industrial robot and often mimic the human arm. Parallel robots have several computer-controlled arms supporting an end effector. The Stewart platform is a well-known parallel robot. Parallel robots tend to be stiffer and can carry higher loads than serial robots due to their closed-loop design, but serial robots typically have more degrees of freedom and flexibility. The optimal robot type depends on the specific application requirements and factors.

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Shaik Himam Saheb
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92 views

Comparative Study On Serial and Parallel Manipulators - Review

This document compares the characteristics of serial and parallel robots. Serial robots have links arranged in series, with each joint connected to the next. They are the most common type of industrial robot and often mimic the human arm. Parallel robots have several computer-controlled arms supporting an end effector. The Stewart platform is a well-known parallel robot. Parallel robots tend to be stiffer and can carry higher loads than serial robots due to their closed-loop design, but serial robots typically have more degrees of freedom and flexibility. The optimal robot type depends on the specific application requirements and factors.

Uploaded by

Shaik Himam Saheb
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 23

COMPARISON OF THE CHARACTERISTICS BETWEEN

SERIAL AND PARALLEL ROBOTS

by

SHAIK HIMAM SAHEB


Assistant Professor
IcfaiTech, IFHE, Hyderabad

02/10/2022 1
WHAT IS ROBOT?
2

• As per RIA robot is defined as "A robot is a reprogrammable,


multifunctional manipulator designed to move material, parts, tools
or specialized devices through variable programmed motions for the
performance of a variety of tasks

02/10/2022
Robot -Czech word: robota, which means forced or slave laborer

The term robot introduced in 1921 by Karel Capek, a


Czech playwright in his drama named Rossum’s universal robot
(R.U.R).

According to Karel Capek, a robot is a machine look wise similar


to a human being.
Three Hs of human beings are copied into Robotics such
as:-

Hand- In the form of

Manipulator Head- Intelligence

Heart- Emotions of human


beings
02/10/2022
Pairs used in robot manipulators

6
There are two types of Manipulators based on the
structure of the manipulator

• Serial Manipulators – links should be in series


E.g. PUMA, kuka, ABB

• Parallel manipulators – links are in parallel


E.g. Stewart platform. ABB IRB 360 flex picker

7
About Serial Manipulator

Serial manipulators are the most common industrial robots. They are


designed as a series of links connected by motor-actuated joints that
extend from a base to an end-effector.

Often they have an anthropomorphic arm structure described as having a


"shoulder", an "elbow", and a "wrist".

The end effector can be designed to perform any desired task such as
welding, gripping, spinning etc., depending on the application.

A popular application for serial robots in today's industry is the pick-and-


place assembly robot, called a SCARA robot, which has four degrees of
freedom.

Comparative study on Serial and Parallel Manipulators-


8 02/10/2022
Review
About Serial Manipulator (Continued)

9 Comparative study on Serial and Parallel 02/10/2022


Manipulators- Review
All possible configurations of Serial manipulator structures
About Serial Manipulator
Application of Serial manipulator

12 02/10/2022
Limitations of Serial manipulator

The low stiffness inherent to an open kinematic structure,

Errors are accumulated and amplified from link to link,

The fact that they have to carry and move the large weight of
most of the actuators, the relatively low effective load that they
can manipulate.

Due to cantilevered structure more deflection at fixed base

Less speed and accuracy

13 02/10/2022
About Parallel Manipulator
A parallel manipulator is a mechanical system that uses
several computer-controlled serial chains to support a single platform,
or end-effector.

 Perhaps, the best known parallel manipulator is formed from six linear
actuators that support a movable base for devices such as flight
simulators.

This device is called a Stewart platform (or) the Gough-Stewart


platform in recognition of the engineers who first designed and used
them in 1980

A parallel manipulator is designed so that each chain is usually short,


simple and can thus be rigid against unwanted movement, compared to a
serial manipulator.

14 02/10/2022
Comparative study on Serial and Parallel Manipulators- Review
About Parallel Manipulator (continued)

It is this closed-loop stiffness that


makes the overall parallel manipulator
stiff relative to its components, unlike
the serial chain that becomes
progressively less rigid with more
components.

Serial manipulator has less load


carrying capacity because of cantilever
structure
Parallel manipulator has high load
carrying capacity

15 02/10/2022 Review
Comparative study on Serial and Parallel Manipulators-
About Parallel Manipulator (continued)

16 02/10/2022
Comparative study on Serial and Parallel Manipulators- Review
Applications of Parallel manipulators

17 02/10/2022
Applications of Parallel manipulators

18 02/10/2022
Comparative study on Serial and Parallel Manipulators- Review
Applications of Parallel manipulators

Comparative study on Serial and Parallel Manipulators-


19 02/10/2022
Review
About Hybrid Manipulator (Continued)

A robot is said to be a serial robot or serial (open-loop)


manipulator if its kinematic structure takes the form of an open
loop-chain

 a parallel manipulator if it is made of a closed-loop chain, and


hybrid manipulator if it is consists of both open- and closed-loop
chains.

robots (manipulators) are electrically, hydraulically, or


pneumatically driven. Most robots use DC- or AC-servo motors or
stepper motors, because they are cleaner, cheaper, quieter and
relatively easy to control

20 02/10/2022
Conclusion
•It is really very difficult to say what kind of robot is better, serial or
parallel.

•A robot selection procedure is very difficult and complex activity.

•It depends on many different factors like


• type of application (dangerous, repetitive and boring, precise,etc.),
• task requirements (DOF, speed, accuracy, repeatability),
•load requirements,
•workspace,
• economic justification,
•programming time,
•Maintaining capacity , etc.

21 02/10/2022
Comparative study on Serial and Parallel Manipulators- Review
Could you fall in love with this robot?

•Sophia is a humanoid
robot developed by Hong Kong -
based company Hanson Robotics .

•It has been designed to respond to


questions, and has been interviewed
around the world.

• In October 2017, the robot became


a Saudi Arabian citizen, the first
robot to receive citizenship of any
country

22 02/10/2022
23 02/10/2022

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