Manipulator
grabcad
The RSSSS manipulator architecture incorporates two extra redundant spherical joint pairs into the original RSS design. Distinct features of this updated architecture include a combination of one revolute and four spherical joints, as well as two SS pairs working together to provide additional redundancy. The end effector boasts three translational degrees of freedom due to the inclusion of another SS pair, while an actuated revolute joint at the end effector offers enhanced flexibility for tool or workpiece orientation within the workspace. Ultimately, the RSSSS architecture was selected for further development.
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