Hypersurfaces of special configurations of serial manipulators and related concepts. part II: Passive joints, configurations, component manifolds and some applications

In this article the novel concepts of passive/active joints, component/subcomponent manifolds of the HSC, configurations/subconfigurations and their applications are presented. The article also contains a theorem which predicts the existence of passive joints and a synthesis procedure for passive joints. The concepts introduced here and in Part I are illustrated by way of examples which include three existing industrial manipulators.