Comparison of serial and parallel robot repeatability based on different performance criteria

Energy-Efficient Bipedal Locomotion Through Parallel Actuation of Hip and Ankle Joints

“…Our analysis is limited to evaluating power efficiency improvements specifically due to parallel actuation at the hip and ankle joints. This design choice is based on prior findings that hip and ankle joints typically experience the highest torque and power demand during walking and balance control in humanoid robots [34,37]. By introducing parallel actuation specifically at these joints, the system can benefit from improved mechanical symmetry and load sharing, which reduces peak actuator effort and enhances energy efficiency.…”

Energy-Efficient Bipedal Locomotion Through Parallel Actuation of Hip and Ankle Joints

“…Our analysis is limited to evaluating power efficiency improvements specifically due to parallel actuation at the hip and ankle joints. This design choice is based on prior findings that hip and ankle joints typically experience the highest torque and power demand during walking and balance control in humanoid robots [34,37]. By introducing parallel actuation specifically at these joints, the system can benefit from improved mechanical symmetry and load sharing, which reduces peak actuator effort and enhances energy efficiency.…”

Concurrent Design of a 2 Dof Five-Bar Parallel Robot a Hybrid Design of Rigid and Flexible Links

“…1. The position vector for the center of mass (l c1 ) of the link associated with length a 1 can be obtained as shown in (1).…”

“…Parallel robots have shown to have better repeatability properties than serial robots, [1]. In addition, there are three main advantages of parallel robots; first, the error is averaged instead of accumulated.…”

A novel Schönflies-motion generator parallel manipulator with decoupled rotational freedom

“…The advantages and disadvantages of serial manipulators versus their parallel counterparts have been meticulously discussed in the literature, [6][7][8][9][10][11][12][13] enhancing that the serial accumulation of errors, known as the pyramidal effect, as well as the weak rigidity of serial manipulators have been the favorite arguments for reproducing the SCARA motion in parallel manipulators. To simplify the kinematics of 3T1R parallel manipulators, the topology of the robot may be designed employing a minimum of limbs.…”

Energy-Efficient Bipedal Locomotion Through Parallel Actuation of Hip and Ankle Joints

“…Our analysis is limited to evaluating power efficiency improvements specifically due to parallel actuation at the hip and ankle joints. This design choice is based on prior findings that hip and ankle joints typically experience the highest torque and power demand during walking and balance control in humanoid robots [34,37]. By introducing parallel actuation specifically at these joints, the system can benefit from improved mechanical symmetry and load sharing, which reduces peak actuator effort and enhances energy efficiency.…”

Concurrent Design of a 2 Dof Five-Bar Parallel Robot a Hybrid Design of Rigid and Flexible Links

“…1. The position vector for the center of mass (l c1 ) of the link associated with length a 1 can be obtained as shown in (1).…”

“…Parallel robots have shown to have better repeatability properties than serial robots, [1]. In addition, there are three main advantages of parallel robots; first, the error is averaged instead of accumulated.…”

A novel Schönflies-motion generator parallel manipulator with decoupled rotational freedom

“…The advantages and disadvantages of serial manipulators versus their parallel counterparts have been meticulously discussed in the literature, [6][7][8][9][10][11][12][13] enhancing that the serial accumulation of errors, known as the pyramidal effect, as well as the weak rigidity of serial manipulators have been the favorite arguments for reproducing the SCARA motion in parallel manipulators. To simplify the kinematics of 3T1R parallel manipulators, the topology of the robot may be designed employing a minimum of limbs.…”

Energy-Efficient Bipedal Locomotion Through Parallel Actuation of Hip and Ankle Joints

“…Our analysis is limited to evaluating power efficiency improvements specifically due to parallel actuation at the hip and ankle joints. This design choice is based on prior findings that hip and ankle joints typically experience the highest torque and power demand during walking and balance control in humanoid robots [34,37]. By introducing parallel actuation specifically at these joints, the system can benefit from improved mechanical symmetry and load sharing, which reduces peak actuator effort and enhances energy efficiency.…”

Concurrent Design of a 2 Dof Five-Bar Parallel Robot a Hybrid Design of Rigid and Flexible Links

“…1. The position vector for the center of mass (l c1 ) of the link associated with length a 1 can be obtained as shown in (1).…”

“…Parallel robots have shown to have better repeatability properties than serial robots, [1]. In addition, there are three main advantages of parallel robots; first, the error is averaged instead of accumulated.…”

A novel Schönflies-motion generator parallel manipulator with decoupled rotational freedom

“…The advantages and disadvantages of serial manipulators versus their parallel counterparts have been meticulously discussed in the literature, [6][7][8][9][10][11][12][13] enhancing that the serial accumulation of errors, known as the pyramidal effect, as well as the weak rigidity of serial manipulators have been the favorite arguments for reproducing the SCARA motion in parallel manipulators. To simplify the kinematics of 3T1R parallel manipulators, the topology of the robot may be designed employing a minimum of limbs.…”