The condition of the Jacobian characterizes the transmission quality of manipulators and is used in this paper for the determination of the dimensions of manipulators having best mobility for a defined workspace. Typical planar and spatial manipulators of parallel structure and having 3 or 6 degrees of freedom are used to demonstrate the method of design used. Manipulators having identical degrees of freedom and workspaces and different structures, including those having fixed or variable leg lengths, are compared with respect to their mobility. The computing program developed for the purpose of optimum design performs the kinematic optimization of machines and manipulators of any structure.

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