The Modular Robots Kinematics

摘要

The present paper intention is to develop a kinematical foundation for our next works in industrial robots (IR) modular design. The goal of this works is to develop cheap and improved robots which are adapted to the costumer needs. In order to achieve the mentioned goal, in [43], we have started a bibliographical research of the main modular design aspects. The mentioned analyze of the actual results in modular robots design gives us the possibility to establish our research program. The idea of this paper is to develop a kinematical formalism which will be use in the next dedicated to this subject.