Abstract
This paper develops the kinematic analysis procedure of open-loop robot manipulators with six degrees of mobility that contain in their structure three rotational pairs and one spherical joint. The equivalent closed-loop linkage approach suggested in some previous works of the author[2–5] is applied here for analyzing several dimensional and structural variants with different locations of the S-joint in the kinematic chain. For any prescribed position and orientation of the manipulating link, the expressions of all joint parameters are presented in an explicit form suitable for digital programming and computation. The algebraic noniterative procedure proposed for resolving the closed-form positional functions allows the accurate guidance of the free end along a programmed spatial path or through imposed discrete positions and favors the real-time CNC of the robot manipulator.
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