Email the author ANALYTICAL AND COMPUTATIONAL MODELING OF AN SSC KINEMATIC ROBOT LIMB CONCEPT
Abstract
This paper presents the analytical and computational modeling of a robotic limb concept based on an SSC (Spherical–Spherical–Cylindrical) kinematic configuration, aimed at replicating the motion of an upper limb segment. The study focuses on the development of a Python-based simulation tool that facilitates both the validation of the mathematical model and graphical visualization of spatial trajectories in biomechanically inspired mechanisms. The modeled structure includes two spherical and one cylindrical joint, providing a simplified framework for studying articulated motion.
The kinematic behavior of the system is described using position equations derived from forward kinematics, capturing the spatial orientation and displacement of the end-effector. The Python implementation integrates focused libraries such as NumPy and Matplotlib, employing a structured numerical approach to compute and visualize the limb's trajectory. The application supports user-defined input parameters, with preset configurations available for validation purposes. The results confirm that the SSC-based Python model reliably simulates the articulated motion of an upper limb, supporting its use in kinematic analysis, educational environments and biomechanical simulations.
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