Optimum architecture design of platform manipulators

@article{Ma1991OptimumAD,
  title={Optimum architecture design of platform manipulators},
  author={O. Ma and Jorge Angeles},
  journal={Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments},
  year={1991},
  pages={1130-1135 vol.2}
}
The kinetostatic accuracy of a manipulator depends not only on its configuration but also on its architecture. The focus of this paper is on the study of the relation between the aforementioned accuracy and the architecture of platform manipulators. It has been shown that some architectures can cause the associated Jacobian matrix to be either singular or very ill-conditioned in some regions of the workspace. These singular or ill-conditioned architectures can never be used in practice and… CONTINUE READING

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