Paralleelmanipulaators

A parallel manipulator is a mechanical system composed of several kinematic chains connecting the base to an end-effector. Each chain acts in parallel, meaning they all simultaneously support and control the motion of the end-effector. This parallel arrangement offers several advantages over traditional serial manipulators, such as higher stiffness, better precision, and improved load-carrying capacity.

In a parallel manipulator, the actuators are typically located at the base, which reduces the inertia and moving mass of the manipulator's arms. This design also allows for more compact and robust structures. The redundancy inherent in some parallel manipulator designs can also be exploited for improved dexterity or fault tolerance.

Applications of parallel manipulators are widespread and include robotics, flight simulators, motion platforms, and precision machining. Their ability to achieve high speeds and accelerations makes them suitable for dynamic tasks. However, the kinematic and dynamic analysis of parallel manipulators can be more complex than that of serial manipulators due to the interconnected nature of the kinematic chains. Inverse kinematics, which determines the actuator positions required to achieve a desired end-effector pose, can also be challenging. Despite these complexities, the unique advantages of parallel manipulators continue to drive their development and adoption in various fields.