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The Method to Calculate the Degree of Freedom of Terminal Link about Serial Robot

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Abstract:

The terminal link of serial robot has six degrees of freedom at most. This paper presents another method based on the screw theory and kinematics output matrix, which can conveniently calculate the degree of freedom of terminal link about serial robot, and meanwhile lay good foundation for researching the parallel robot.

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Periodical:

Advanced Materials Research (Volumes 433-440)

Pages:

6683-6687

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.433-440.6683

Citation:

Cite this paper

Online since:

January 2012

Authors:

Shu Hua Sun

Keywords:

Degree of Freedom, Screw Theory Kinematics Output Matrix, Terminal Link

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© 2012 Trans Tech Publications Ltd. All Rights Reserved

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References

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[3] Huang Zhen, Ling-Fu Kong, Yue-Fa Fang. Parallel robot mechanism and control theory.

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[4] Beijing: Mechanical Industry Press, 1997. Ting-Li Yang. Robot topology learning. Beijing: Mechanical Industry Press, 2003. 11.

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