The kinematic properties of multiloop chains for robot appli cations are investigated using a structure-based approach. The basic concepts related to algebraic groups of displace ments and to Assur's groups are used in order to provide systematic foundations for analysis and synthesis procedures. Analysis techniques are described, and several examples of real applications are given. © 1990, Sage Publications. All rights reserved.
Kinematics of Robot Mechanisms with Closed Actuating Loops
Fanghella P.;Galletti C.
1990-01-01
Abstract
The kinematic properties of multiloop chains for robot appli cations are investigated using a structure-based approach. The basic concepts related to algebraic groups of displace ments and to Assur's groups are used in order to provide systematic foundations for analysis and synthesis procedures. Analysis techniques are described, and several examples of real applications are given. © 1990, Sage Publications. All rights reserved.
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