The computation of the closed loops number for the planar
kinematic chain follows with:
The geometric solution is a fast method and can be expanded to visualize 3D layout solutions, as revolved volumes and overlap regions for multiple
kinematic chains in a work cell can be readily generated.
This lack of energy generation must be recovered by other movements in the
kinematic chain in order to obtain one of the best performances of serve velocity.
Functioning of the parallel
kinematic chain doesn't changes if the connection to the base and moving platform using the virtual chain E.
The laser tracker is placed on the table associated with the movement of the rotational axis C, while the reflector occupies the position reserved for the tool along the
kinematic chain determined by the movement of axis Z.
The admittance matrix A transforms the torque field into a movement vector [??] of the overall
kinematic chain (note that this is not a full admittance matrix but only its viscous component).
kinematic chain with 8[degrees] of freedom--contains 5 rotating and 3 translating pairs.
Serial robot-manipulator (RM) can be introduced as an open
kinematic chain of rigid links connected together by movable joints.
When we identify a
kinematic chain as a distinct chain, it will differ from other chains in respect of any one of the following aspects.
The open six-axis
kinematic chain allows a large work envelope of 2,754 cu.
That's said to be the highest capacity of a six-axis machine with an open
kinematic chain (i.e., it is simply a pedestal-mounted device like typical six-axis robots, not something with an elaborate gridded structure).
Assumptions that are made include: motion is constrained geometrically as a 2-df
kinematic chain, the hip is fixed throughout movement, joints are frictionless hinge joints, and the limb segments are rigid bodies (9).
