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Topology and Performance Modeling of Robotic Mechanism

  • Tao SunEmail author
  • Shuofei Yang
  • Binbin Lian
Chapter
  • 20 Downloads
Part of the Springer Tracts in Mechanical Engineering book series (STME)

Abstract

Topology of a robotic mechanism [1], describing the arrangement of joints including number, sequence, type, and axis (or direction), denotes the basic mechanical structure of the robotic mechanism [2]. Topology determines motion capability thus directly affects the kinematic, stiffness, and dynamic performance of the robotic mechanism [3, 4, 5].

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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.School of Mechanical EngineeringTianjin UniversityTianjinChina

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