Position and Orientation Characteristic Equations For Topological Synthesis of Robot Mechanisms

摘要

Mapping relation between mechanism topological structure and its output POC (position and orientation characteristic) is discovered in this paper. The main contents include: symbolic representation of mechanism topological structure; matrix representation of mechanism output POC; POC equations of serial and parallel mechanisms and rules for their symbolic operation, etc. Forward operation of POC equations can be used for topological characteristic analysis, whereas the inverse operation can be used for topological synthesis.