Abstract
Methods for developing manipulators to reach maximum number of isotropic positions are presented in this paper. The spatial 4R manipulators are directly obtained from 3R planar manipulators, and the 2-DOF 5R planar parallel manipulators are developed from four-bar mechanisms. In addition, a general method is proposed for developing other types of manipulators. Criteria for determining the number of solutions of nth degree polynomials are presented to facilitate the searching process.
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