Titlebook: Robot Mechanisms; Jadran Lenarcic,Tadej Bajd,Michael M. Stani?i? Textbook 2013 Springer Science+Business Media Dordrecht 2013 Parallel Rob

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Singular Planes and Dexterous Robot Mechanisms, terminal link of a robotic system. We calculate the singular planes for serial mechanisms that are normally used in industrial robots, such as the articulated arm, the spherical arm, the cylindrical arm and the Scara arm. At the end, the singularities of a spherical wrist are discussed and a singularity-free pointing system is presented.

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Kinematics of Rigid Bodies,gular velocities and linear and angular translations, are studied. The characteristic properties of the rotation matrix and of the homogeneous transformation matrix are described. Different ways to represent the orientation of the body are introduced, such as the Euler angles, the YPR angles and the

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Evaluation of Mechanisms,ce expressed by their volume and compactness. We also described the kinematic flexibility associated with the number of inverse kinematics solutions, the manipulability and the kinematic index associated with the kinematic singularities. Attention is given to the associated computational aspects, in

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Singular Planes and Dexterous Robot Mechanisms,hanism cannot move in certain directions and the task cannot be performed. These are the kinematic singularities of the mechanism. This chapter deals with describing the kinematic singularities in industrial robots in the form of the singular planes. They represent the loci of singular points on the

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Redundant Mechanisms,mary task in an infinite number of ways. This feature allows the robot to simultaneously solve additional secondary tasks. The system of differential equations defining the kinematics of a redundant mechanism is underdetermined. This requires special mathematical approaches to solve the inverse kine

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