Some Kinematic Structures for Robot Manipulator Designs

Some kinematic structures suitable for use in robot manipulator designs are constructed in terms of components. General properties of kinematic structures are considered and a method for combining two structures given. Two types of component, namely actuation and distribution components, are specified. Modification of the kinematic structures is effected by transfer of drives. Existing designs for robot manipulators are examined in terms of their kinematic structures and some new designs are generated.