Kinematics and dynamics modeling of the non-physical direction robot

This paper is concerned with the problem of kinematics and dynamics modeling of the non-physical direction robot. After the analysis of the no physical direction of the robot is finished, the design method of a mechanical architecture of the robot is presented. Through setting up the homogeneous coordinate system and analyzing the mechanism of its exercise, the kinematics and dynamic model of the robot are obtained. A numerical example shows the effectiveness of the proposed modeling method.