摘要：The kinematics of the basic mechatronic module 3R of an anthropomorphic robot will be presented in this study, through an original geometric-analytical method, developed by the author. The advantages of the proposed new method are a great simplicity of calculations and calculation relations, intertwined with very high precision. The method is a strong one from a physical-mathematical point of view. There is a counter that must be set correctly to plus or minus 1, otherwise, all values and calculations are fast, accurate, direct, intuitive. The method has already been verified by the author with another original, older, trigonometric one and the results obtained by both methods are identical. If the trigonometric method already presented previously was a simple one, the geometric-analytical one proposed this time is even simpler in calculations and more precise, the effective work being to present the method and the calculation relations as well as the way they were deducted, but their use is very simple and fast.
