THE CONTRIBUTION TO CALCULUS OF THE MOBILITY (D.O.F.) OF COMPLEX STRUCTURE MECHANISMS / MANIPULATORS

The mechanisms / manipulators, with complex structure, have as their component parts two or more closed spatial contours of various ranks, which are connected horizontally or vertically. If the mobility (d.o.f.) of these complex manipulators by the classical formulas is calculated, some difficulties could occur, being connected to the independent loops choosing. The Malyshev - Dobrovolski type formulas are applied, as a rule, only to the mono-contour mechanisms or to those with two or more contours of the same rank. In the present paper, a new formula is deduced for the calculus of mobility of complex structure spatial manipulators - robots by pointing out the rank of each independently loop