Geometric method of analysis of instant positions of planar manipulator links with motion redundancy under the given trajectory of the output link
In the work by means of analytical calculation and geometric plotting instant positions of planar kinematic chains of robot mechanisms with motion redundancy under the given paths of output link are done. It is determined by graphical method of planar area setting positions of possible instant centre rotations of some links of the mechanism. The geometric parameters of maneuverability of planar seven-link manipulator with motion redundancy appearing in the process of the syntheses of motion by the vector of velocity are obtained.