| Summary: | In this research, the structural synthesis of lower-class robot manipulators with general constraint one is investigated. The number of constraints <em>d</em> = 1 and the mobility number <em>λ</em> = 5 for sphere–sphere and sphere–plane combinations of higher kinematic pairs are investigated by using the analytical approach. Structural synthesis of new first- and second-class robot manipulators is investigated by using transformations of higher kinematic pairs to lower kinematic pairs. Therefore, using this approach, we obtain structural groups with general constraint one. Further, kinematic structures and physical models of overconstrained robot manipulators are presented in the research.
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