Abstract:

In stated the description of principle of operation and kinematic research by analytic method of seven-bar spherical automatic manipulator that is created on the basis of spherical four-bar slider-crank mechanism. The kinematic parameters- positions, linear and angular velocities and accelerations of links and their points of automatic manipulator are defined in the function of generalized coordinates and time. Results of research are available for dynamic analysis of manipulator.

Keywords: spherical automatic manipulator; kinematic analysis; analytic method; kinematic parameters