The computation of the closed loops number for the planar kinematic chain
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).
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).