| 摘要 |
The slider crank mechanism based robot arm consists of a robot waist (2) rotating with respect to the robot base (1) and a closed kinematic chain planar mechanism which is connected to the robot waist by a revolute joint. The closed kinematic chain planar mechanism is principally constructed as a special design of a centric or eccentric slider (6) crank (4) mechanism. The slider crank (4) mechanism based robot arm (3) has similar structural and topological properties as both spherical and anthropomorphic robot manipulators and can be alternatively transformed from one another.
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