KINEMATIC DESIGN OF SERIAL ROBOTIC MECHANISMS SUIN

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.