A method of formalized description proposed for the structures and parameters of manipulator kinematic chains is based on description of each link and linkage by an identifier that corresponds to its type and a set of parameters some of which reflect structural couplings, while the others represent design parameters. The procedure can be used to describe both open- and closed-chain manipulators. It may be found useful in compilation of manipulator-data banks, computerized mathematical description of manipulators, and computerized solution of kinematic problems.
|Number of pages||6|
|Journal||Soviet machine science|
|Publication status||Published - 1989|
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