A novel method of type synthesis for robot kinematic chains

Design of the subchains with known kinematic characteristics is the key problem in robot type synthesis.A few of new concepts,such as kinematic unit,basic kinematic unit and compound kinematic unit are brought forward.The according compositive principles and some algorithms are also given.In the end,it is proved that the method is simple and effective by taking a kind of subchains with the chatacteristics of plane joint as example.