Structural Synthesis of Robot Manipulators with General Constraint Two

In this scientific research, the higher kinematic pair sphere in cylindrical slot(Scs) with the number of constraint \(r=2\) and the degrees of freedom(DoF) \(f=4\) is considered by using the analytical approach. The structural synthesis of new spatial serial and parallel type (2 ÷ 4) DoF robot manipulators with the general constraint \(d=2\) , gripper motion number \(\lambda =4\) and closed kinematic loops is performed by using the transformation from higher kinematic pair Scs to kinematic chains with revolute and prismatic pairs \((RRR)P\) . . Motion of the end effectors in new serial and parallel (2 ÷ 4) DoF robot manipulators working in the overconstrained subspace λ = 4, is determined by applying along the fixed coordinate axes. The newly designed (2 ÷ 4) DoF serial and parallel robot manipulators are proposed in the table.