Synthesis of Redundant Planar Isotropic Manipulator using Link Length Ratios

This research involves synthesis of planar isotropic 3R manipulator using link length ratios. A novel method is proposed to obtain exact solutions for synthesis of the manipulator using the conditions of isotropy. Two earlier methods of synthesis are used to compare the proposed method and are shown to be more appropriate and precise enough to get eight isotropic configurations.

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Keywords

Kinematic Synthesis, Condition Number, Planar manipulator, Redundant Manipulator, Isotropy

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