Redundant serial industrial robots class-structural synthesis and useful configuration

For the first, the industrial serial robots can be classified according the number of mobility degrees or independent movements, the number of independent kinematic axes, the shape of the workspace, the value of the useful load, the precision of touching a predetermined point, etc. The number of degrees of mobility directly determines the structure of the kinematic chain corresponding to the robot and implicitly its construction, functionality and utility. In this paper, we define the class of redundant industrial serial robots. For the redundant industrial serial robots the structural synthesis method is presented and for each type of representative examples of structures are given