Classification of motion patterns for robot manipulators

The accurate and unambiguous description of motion patterns is essential for the type synthesis of robot manipulators, including serial and parallel ones. This paper employs the concept of the G^F (Generalized Function) set to achieve a systematic classification of motion patterns. Simple robot structures are illustrated for each motion pattern. The results shown in this paper clarify the classification of motion patterns and the goal of type synthesis of robot manipulators, as well as lead to better understanding of the nature of robot manipulators.