Kinematic Setup of Robots


The FSF of the planar 3-DOF RRR robot-manipulator (Fig. 7.1) consists of six links (n = 6), among them three kinetmatic links rotating around the parallel axes and three geometric links fixing the distances between parallel axes. According to Eqs. (4.16-20), the FSF of the robot is

7.1Serial-type kinematics robots
7.2Setup of parallel- and hybrid-kinematics machines

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