Parallel robot classification

Question 1

Differences between serial and parallel robots.

Answer 1

NO arm and NO wrist but:
* kinematic chains -> position and orientation
* end-effectors -> interaction

Question 2

How many DoF has the Gough-Stewart platform? Both SPS and UPS cases.

Answer 2

Using the Kutzbach equation:
* SPS: 12
* UPS: 6

Question 3

Talks about the Delta robot.

Answer 3

• Parallel robot
• 3-RUU or 4-RUU