THE SPECIAL ROTATION FREEDOM OF THE END EFFECTOR OF A FIVE-DOF SERIES ROBOT

ZU Wenbo, TAO Wangsong, HUANG Zhen. THE SPECIAL ROTATION FREEDOM OF THE END EFFECTOR OF A FIVE-DOF SERIES ROBOT[J]. ROBOT, 1997, 19(6): 450-455.

Citation:

ZU Wenbo, TAO Wangsong, HUANG Zhen. THE SPECIAL ROTATION FREEDOM OF THE END EFFECTOR OF A FIVE-DOF SERIES ROBOT[J]. ROBOT, 1997, 19(6): 450-455.

Citation:

ZU Wenbo, TAO Wangsong, HUANG Zhen. THE SPECIAL ROTATION FREEDOM OF THE END EFFECTOR OF A FIVE-DOF SERIES ROBOT[J]. ROBOT, 1997, 19(6): 450-455.

Abstract

Based on the reciprocal screw theory, this paper discusses the distribution of the rotational axes in space when the reciprocal screw is a screw (h≠0), analyses in particular the kinematic characteristics of a five-DOF series robot-Motoman, and presents its 5 kinds of kinematic atlas in different conditions.

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