Kinematics model for 4 degrees of freedom modular manipulator

In this paper,according to the structural characteristic and the kinematic constraint,the 4 degrees of freedom(MT-R) modular manipulator was analyzed to express and model by using D-H algorithm.And the forward kinematics model with angle variables was acquired.Second,the complete analytical solution of the inverse kinematics can be acquired by using inverse matrix analytical method.Finally,the simulation and experiment results verified the correctness of the forward kinematics model and the inverse kinematics solution.The result can be further used for manipulator end accurate positioning and trajectory planning.