Abstract
The basic structure of the anthropomorphic robots used today massively in 80-90% cases from the industrial robots will be presented briefly, with the highlighting of an original method for determining the kinematics of the basic 3R module and with highlighting the forces at the basic structure set in the discussion. Some representative examples of calculation will be remembered as results. The paper is a basic one in the field and performs a recapitulation of how the basic anthropomorphic structures 3R are analyzed or designed correctly and quickly.
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