A Review on the Kinematic Simulation and

Generally, the robot manipulators are classified into serial type open loop chains and parallel type closed loop chains. Since decades, robot manipulators were designed and operated using the open loop serial chains. In general, Robots used in industries are all general purpose manipulators, consisting of multiple rigid links and are connected in series by means of joints such as revolute, prismatic and etc. A robot consists of a fixed support base at one end and a gripper to hold a tool at the other end for manipulating and performing various operations. Human arm is considered as an example, for Open loop manipulators. As the structure is cantilever supported, the load carrying capacity is poor but besides it has the advantage of reaching large area of workspaces and dexterous maneuverability.