Study on 6-DOF puma robot based on theory of virtual compound joint

The theory of virtual compound joint and characteristic parameters analysis is introduced, the moving capability of the kinematic chain can be obtained by calculating and the instantaneous or global equivalent rotation angle / translation domain of virtual compound joint. Through analyzing 6-DOF series robot by MATLAB, the moving capability characteristics of the robot such as global equivalent rotation angle domain and global equivalent translation domain are presented in a direct and clear way by planar six-dimensional topological graph, the FWS characteristics (degree of freedom, working space, singularity) are obtained at the same time.