Robotics 2
Parallel Manipulators
Quiz
Question 2:  What is the difference between a Stuart or Gough platform and a Delta robot?
Question 3:  In the inverse kinematics of a parallel manipulator, all vectors are expressed in frame 0, with one exception.   Which vector(s) are expressed in frame 1, the frame that is attached to the platform?
Question 4:  In the inverse kinematics problem for parallel manipulators, what is our output (the thing we are trying to solve for)?
Question 5-8:  Shown here is a picture of a Stuart platform with the base frame and platform frame drawn in.  Fill in the numbers that I should set for each vector.  Your answers should be integers.
Question 1: What is the difference between a serial manipulator and a parallel manipulator?
Question 9-10:  Given here are all of the inputs for an inverse kinematics problem for a Stuart platform.  Solve for the vector s1 and fill in the values.  Round to 3 decimal places.
A Stuart platform has prismatic joints, while a delta robot has revolute joints.
A serial manipulator has both prismatic and revolute joints, while a parallel manipulator has only prismatic joints.
In a serial manipulator, joints are connected to other joints.  In a parallel manipulator, all joints are connected both to ground and to the end-effector.
Serial manipulators are mostly used for functions like pick-and-place, while parallel manipulators are only used for things like motion simulators.
Serial manipulators communicate using serial communication, while parallel manipulators communicate using parallel communication.
A Stuart platform is used for motion simulators, while a delta robot is used for pick-and-place.
A delta robot is used for motion simulators, while a Stuart platform is used for pick-and-place.
A Stuart platform is capable of 6 degrees of freedom, while a delta robot is only capable of 3 degrees of freedom.
The 'a' vectors from the center of frame 0 to the bottom of the legs
The 'b' vectors from the center of the platform to the tops of the legs
The 's' vectors from the bottoms of the legs to the tops of the legs
The 'p' vector from the center of frame 0 to the center of the platform
The 'a' vectors from the center of frame 0 to the bottom of the legs
The 'b' vectors from the center of the platform to the tops of the legs
The 's' vectors from the bottoms of the legs to the tops of the legs
The 'p' vector from the center of frame 0 to the center of the platform
p =
b1 =
s1 =