Abstract:
The Theory of Screws is well known to do kinematic computations. Novel
mathematical methods and applications of screw theory were developed gradually over a
reasonably long period of time. One of the important usage of the matrix of this theory is the
geometric decomposition of the end effector twists into practically implementable joints
which are combined together into serial chains. Thereby, calculating and predicting the Single
DOF joints orientations, locations and positions for a serial manipulator given the
instantaneous end effector twists. Mathematically this design will have multiple solutions,
which will be narrowed down considering the structural constraints and further reduced on the
basis of user‟s requirements.
