Abstract
In this paper, a global conditioning index, η and condition number, κ are examined for the workspace optimization of the sixteen fundamental robot manipulators classified by Huang and Milenkovic (1983). Our goal was to find the optimum link lengths and volume for these robot manipulators. There are two design objectives: maximize the workspace area covered by the robot manipulator and minimize the condition number. As examples, SN (spherical) three-link robot manipulators and RR three-link robot manipulators were studied based on the stated design objectives. Also, optimization results of these sixteen industrial robot manipulators were obtained and compared to each other.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
