Manipulator

RSSSS Manipulator Architecture: The revised RSS architecture has two additional redundant spherical joint pair transforms into the RSSSS architecture. The revised architecture was following features: 1. One revolute and four spherical joints. 2. Two redundant joint in the form of a SS pair in tandem with another SS pair. 3. The end effector has 3 translational DOFs since the additional SS pair restrains rotational DOFs. The RSSSS architecture was finally chosen for further development. Over the course of time, an additional rotational DOF was added by placing an actuated revolute joint at the end effecter to enhance flexibility of orientation of the work piece or tool in the workspace.