The layout of the arm with additional degree of freedom (first report)

摘要

Method of achieving the arm with additional degree of freedom is combining two mechanisms. The most effective combination is Z+X rotation. It is easy to be the highest degree of freedom, and to operate this combination. The links mechanics necessary to take range of motion widely have a lot of stress problem. Enlargement of device or the new kind of thinking is necessary to solve this problem. The control of a free arm can support the manipulators.