Abstract
In the mechanism design of in-parallel actuated manipulators, kinematic constants must be clarified so that the singular points and the neighborhoods of singular points are not included and high motion transmissibility can be obtained in the prescribed working space. This paper proposes a new method based on the Monte-Carlo method for extracting the set of kinematic constants which assures high motion transmissibility in the prescribed working space. The proposed method is applied to extraction of kinematic constants of a type of spatial in-parallel actuated manipulator with six degrees of freedom with high motion transmissibility, and the results are discussed for four different combinations of kinematic constants. An important kinematic constant for obtaining high motion transmissibility is clarified which has never been treated as a design parameter. The effectiveness of the proposed method is also investigated by comparing the results to those obtained by the conventional method.
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