Abstract
Terminal constraints of robot end effectors from kinematic chains and the free motions under these constraints are discussed. The analytical theory of constraint space of the end effector of parallel robotic mechanism is studied according to the terminal constraint space of its kinematic chains. The degree of freedom of the end effector of a parallel robot should have the three attributes, namely, quantity, type, and direction. The degree of freedom of robot end effector is one of the core issues in the free motion analysis of mechanisms. Therefore, this chapter establishes analytical theory for the constrained space of the end effectors. On this basis, the equivalent description of the complex kinematic chain is discussed, which provides a theoretical support for the equivalent description of the complex kinematic chains to pure serial kinematic chains and lays a foundation for the study of actuation of the prescribed end effector.
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