Detailed explanation of the difference between serial robot and parallel robot
Introduction: From the perspective of mechanism, robots can be divided into two categories: serial robots and parallel robots. The open loop mechanism is the prototype of the serial robot; A parallel robot is a robot that has one or several closed loops that form joint coordinates that are related to each other.
Serial robot
Serial robot is a kind of open kinematic chain robot, which is formed by a series of connecting rods connected in series through rotary joints or mobile joints. The driver is used to drive the motion of each joint to drive the relative motion of the connecting rod, so that the end welding gun can reach the appropriate position and posture.
Parallel robot
Parallel robot refers to a closed loop robot driven in parallel by a moving platform and a fixed platform, which are connected by at least two independent kinematic chains, and the mechanism has two or more degrees of freedom.
The parallel robot and the traditional industrial serial robot form a complementary relationship in application. It is a closed kinematic chain. Compared with the serial robot, it generally consists of an up and down motion platform and two or more kinematic branches. Between the motion platform and the kinematic branches, one or more closed-loop mechanisms are formed. By changing the motion state of each branch chain, the entire mechanism has multiple operable degrees of freedom.
Difference between serial robot and parallel robot
Different structures
1. Serial robot: It is connected by a rod with high stiffness through joints. Except that the rods at both ends can only be connected with the front or back, each rod is connected with the front and back rods through joints.
2. Parallel robot: a closed loop mechanism that the moving platform and the fixed platform are connected by at least two independent kinematic chains, the mechanism has two or more degrees of freedom, and is driven in parallel.
Different characteristics
1. Serial robot: reducer is required; Different drive power and different motor models; The motor is located in the motion structure with large inertia; The direct solution is simple, and the inverse solution is complex.
2. Parallel robot: no reducer, low cost; All driving powers are the same and easy to produce; The motor is located in the frame with small inertia; The inverse solution is simple and easy to control in real time.
Different applications
1. Serial robots: They are used in many fields, such as various machine tools, assembly workshops, etc.
2. Parallel robot: It is mainly used in precise and compact applications, and its competitive points focus on speed, repetitive positioning accuracy and dynamic performance.