Abstract
The design of reliable parallel robots demands a priori determination oftheir kinematic and dynamic properties. An important issue of the designof robotic manipulators is to ensure a high manipulability and theability to reach a desired spatial position. For parallel mechanisms themanipulability highly depends on its actual configuration and can bedescribed by several local measures each having a different sensitivityto singular configurations of the structure. Global manipulabilitymeasures are introduced which globally characterize the kinematicdexterity of parallel manipulators. Beside purely kinematiccharacteristics the stability of manipulator configurations is ofparticular interest. To facilitate such analyses a stability measure isintroduced taking into account the actual load and elastic members ofthe structure. A Hexapod structure clarifies the relevance of theproposed measures.
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