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.
In a multiple joint
kinematic chain, because a multiple joint i composed of k links contains (k - 1) simple joints, defined multiple joint factor [p.
Vector polygon constructed on the basis of first
kinematic chain is presented in Fig.
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.
It is possible to perform a general motion of a working item of the robot through
kinematic chains with 6 degrees of freedom, for example robot CINCINNATI (Fig.
A
kinematic chain with a specified number of links and degree -of -freedom will have the same number of design parameters irrespective of the link assortment.
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).
Beginning and ending on a known TBM allowed checking the positional repeatability of the first and last points in each stop-and-go or
kinematic chain.
The robots' highly accurate link and gear combinations and optimized control loops in the
kinematic chain give the robots unrivalled repeatability.
This research presents methodologies to predetermine regions of feasible operation for multiple
kinematic chain mechanisms, such as multi-spindle/multiaxis machine tools and industrial serial 6 degree of freedom robots, and manufacturing cells.
Enclosure 5 is displaced on guides of prop 1 by the feeding/positioning
kinematic chain consisting of motor 2, reducing gears 3 and feed screw 4.
