321 kinematic structure
 | This article provides insufficient context for those unfamiliar with the subject. (February 2009) |
321 kinematic structure is a design method for robotic arms (serial manipulators), used in most commercially produced robotic arms. The inverse kinematics of serial manipulators with six revolute joints, and with three consecutive joints intersecting, can be solved[clarification needed] in closed form, i.e. analytically[clarification needed].[1] The 321 design is an example of a 6R wrist-partitioned manipulator: the three wrist joints intersect, the two shoulder and elbow joints are parallel, the first joint intersects the first shoulder joint orthogonally (at a right angle).
Many other industrial robots, such as the PUMA, have a kinematic structure that deviates a little bit from the 321 structure. The offsets move the singular positions of the robot away from places in the workspace where they are likely to cause problems.
References
- ^ D. L. Pieper. The kinematics of manipulators under computer control. PhD thesis, Stanford University, Department of Mechanical Engineering, 1968.
External links
 | This robotics-related article is a stub. You can help Wikipedia by expanding it. |