Redundant serial robot kinematic chains with seven axes are an extension of classical 6-axis ones. The structural synthesis of these structures is useful to provide a working basis, including for the promotion of new ...Redundant serial robot kinematic chains with seven axes are an extension of classical 6-axis ones. The structural synthesis of these structures is useful to provide a working basis, including for the promotion of new structures with 7 axes, besides some already existing and applied structures. This paper summarizes kinematic chain structures using a combinatorial method by listing all possible variants of the structures with 7 axes, obtained by adding a rotational or translational coupling, in a parallel or perpendicular position, against the guiding structure with 6 axes consisting of two distinct modules: positioning module (3 axes) and orientation module (3 axes). Representation of proper workspaces can help the designer in choosing the structure with maximum functionality for a given application.展开更多
文摘Redundant serial robot kinematic chains with seven axes are an extension of classical 6-axis ones. The structural synthesis of these structures is useful to provide a working basis, including for the promotion of new structures with 7 axes, besides some already existing and applied structures. This paper summarizes kinematic chain structures using a combinatorial method by listing all possible variants of the structures with 7 axes, obtained by adding a rotational or translational coupling, in a parallel or perpendicular position, against the guiding structure with 6 axes consisting of two distinct modules: positioning module (3 axes) and orientation module (3 axes). Representation of proper workspaces can help the designer in choosing the structure with maximum functionality for a given application.