What is it about?
Parallelogram-linkages are used to increase robots stiffness and accuracy but they add complexity to the model. We propose a simplified model that replaces each parallelogram with a single (binary) link with an active and a passive joint at the ends maintaining accurate pose when compared to the real robot. The approach results in a concise, simple, and accurate representation.
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Why is it important?
The simplified model is a serial link manipulator that can be studied using serial link available methods.
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This page is a summary of: Simplified model to study the kinematics of manipulators with parallelogram linkages, Industrial Robot the international journal of robotics research and application, April 2024, Emerald,
DOI: 10.1108/ir-01-2024-0046.
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