Abstract
The systematical approach for approximate designing of Cartesian manipulators is described. As opposed to the traditional manipulators based on Pantograph mechanism, alternative kinematic diagrams of 7-link Cartesian manipulators are proposed: one built of revolute joints only while another ones are actuated by swinging cylinders. The design is carried out applying both structural and design-error based approximation techniques. Moreover, the results obtained by least-square and Chebyshev approximation are presented.
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