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By introducing the theory of virtual compound joint and its characteristic parameters analysis method, the moving capability of the output terminal of the kinematic chain can be obtained by calculating and analyzing the instantaneous or global equivalent rotation angle domain and instantaneous or global equivalent translation domain of virtual compound joint. Analyzing the kinematic chain over 3 different cases base on its joint composition, then finding the solution of equivalent rotation angle domain or/and equivalent translation domain of compound joint. Six-degree-of-freedom series-connected robot is analyzed as an example, the corresponding quantified results under given conditions are obtained by using MATLAB, the moving capability characteristics of the series-connected robot such as global equivalent rotation angle domain and global equivalent translation domain are presented in a direct and clear way by planar six-dimensional topological graph, the degree of freedom, working space, singularity are obtained at the same time. Keywords-virtual compound joint; equivalent transformation; equivalent rotation angle domain; equivalent translation domain; topological graph

Analysis on Moving Capability Characteristics of Mechanism Based on Equivalent Transformation of Virtual Compound Joint