We present a theoretical and numerical analysis of the kinematics for the "Transpressor", a cuspidal 6R robot. It admits up to 16 inverse kinematics solutions which are described geometrically. For special target poses, we provide the solutions analytically and present a simple numerical solver for the general case. Moreover, an analytical estimate of the Jacobian determinant on a path between two solutions proves cuspidality for a class of robots similar to the transpressor.

翻译：本文对"Transpressor"这一尖点6R机器人进行了运动学理论与数值分析。该机器人最多允许16组逆运动学解，本文通过几何方法描述了这些解。针对特定目标位姿，我们给出了解析解，并为一般情况提供了简易数值求解器。此外，通过分析两个解之间路径上雅可比行列式的解析估计，证明了与Transpressor结构相似的一类机器人具有尖点特性。