Kinematic analysis of double-body manipulators

Abstract eng:
The work aims at making a kinematical analysis of basic manipula¬tors structures, with the use of the computer program developed by the authors. In the paper there have been presented twelve structures of double-body manipulators divided into four groups in respect to used kinematical pairs, and their occurrence order (place of situation) in the mechanism. Each group contains three mechanisms in which axes of particular bodies are placed perpendicularly, parallelly and obliquely.

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