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Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms by Ning Ma, Fulei Chu, Zhijing Feng, Jingshan Zhao

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Chapter 4

Free Motion of the End Effector of a Robot Mechanism

Abstract

Terminal constraints of robot end effectors from kinematic chains and the free motions under these constraints are discussed. The analytical theory of constraint space of the end effector of parallel robotic mechanism is studied according to the terminal constraint space of its kinematic chains. The degree of freedom of the end effector of a parallel robot should have the three attributes, namely, quantity, type, and direction. The degree of freedom of robot end effector is one of the core issues in the free motion analysis of mechanisms. Therefore, this chapter establishes analytical theory for the constrained space of the end effectors. On this basis, the equivalent description ...

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