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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    Title :

    Introduction: Lockable and Non-holonomic Joints


    Contributors:


    Publication date :

    2019-01-01


    Size :

    18 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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