Abstract
Topology of a robotic mechanism is also called its type, which denotes the mechanism’s basic structure including number and sequence of all joints in the mechanism, as well as the classifications and axes/directions of the joints. The type determines the motions and performances of the mechanism. Thus, type design is the prerequisite step in the innovation design of robotic mechanisms.
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Sun, T., Yang, S., Lian, B. (2020). Type Synthesis Method and Procedure of Robotic Mechanism. In: Finite and Instantaneous Screw Theory in Robotic Mechanism. Springer Tracts in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-1944-4_4
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DOI: https://doi.org/10.1007/978-981-15-1944-4_4
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