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Comparison of Serial and Quasi-Serial Industrial Robots for Isotropic Tasks

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ROMANSY 21 - Robot Design, Dynamics and Control (ROMANSY21 2016)

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 569))

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Abstract

The paper presents a new approach for comparison of serial and quasi-serial robots in industrial applications. In contrast to other works, it is based on evaluation of maximum compliance errors in the working area for isotropic tasks. It is proved that for large-scale isotropic tasks quasi-serial manipulators with kinematic parallelograms are preferable, while for small task dimensions’ serial manipulators provide better accuracy.

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Authors and Affiliations

  1. Innopolis University, Universitetskaya 1, 420500, Innopolis, Russia

    Alexandr Klimchik, Evgeni Magid & Ilya Afanasyev

  2. Ecole des Mines de Nantes, 4 rue Alfred-Kastler, 44307, Nantes, France

    Anatol Pashkevich

Authors
  1. Alexandr Klimchik
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  2. Evgeni Magid
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  3. Ilya Afanasyev
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  4. Anatol Pashkevich
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Corresponding author

Correspondence to Alexandr Klimchik .

Editor information

Editors and Affiliations

  1. Dept. of Industrial Engineering, University of Bologna Dept. of Industrial Engineering, Bologna, Italy

    Vincenzo Parenti-Castelli

  2. Inst. für Techn. Num. Mechanik, Universität Stuttgart Inst. für Techn. Num. Mechanik, Stuttgart, Germany

    Werner Schiehlen

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© 2016 CISM International Centre for Mechanical Sciences

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Klimchik, A., Magid, E., Afanasyev, I., Pashkevich, A. (2016). Comparison of Serial and Quasi-Serial Industrial Robots for Isotropic Tasks. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_47

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  • DOI: https://doi.org/10.1007/978-3-319-33714-2_47

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33713-5

  • Online ISBN: 978-3-319-33714-2

  • eBook Packages: EngineeringEngineering (R0)

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