Kinematics of Alternative Robotic Mechanical Systems

摘要: The study of robotic mechanical systems has focused, so far, on serial manipulators. These are the most common their kind, but nowadays by no means majority. In recent years, other kinds have been developed, as outlined in Chap. 1. Under alternative we understand here: (a) parallel robots; (b) multifingered hands; (c) walking machines; and (d) rolling robots. A class that is increasingly receiving attention, humanoids, portrays an architecture inspired from human musculo-skeletal system. This deserves a its own because host control problems it poses to roboticist; kinematics, however, can be studied with tools developed this chapter for first three listed above. For reason, section humanoids not included here.