Morphological Choice Of Planar Kinematic Mechanisms In Robotics

International audienceIn this paper a morphological confined choice for kinematic mechanisms in robotics is presented. It is based on symmetries of structures. Pairs of groups of mutually symmetrical mechanisms ere detected. Thus, the number of possible configurations is confined by eliminating the symmetrical ones. Different cases of symmetries have been studied. An expression for the calculation of the number of frames and end-effectors is presented. It enables the reduction of the number of structures by avoiding those that are isomorphic. Following this, examples for applications for various kinematic structures are presented, enabling the field of research to be restricted to the possible solution