Optimal Design of 3-Link Planar Manipulators using Grashof's Theorem
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The design of robotic manipulators is dictated by a set of pre-determined performance parameters and functionalities. These performance parameters are often defined in terms of the workspace dexterity, manipubility, and accuracy. These parameters can be used in the design process to optimize the manipulator configuration. In this work we present an algorithm for the optimal design of a three link planar manipulator using Grashof's Theorem.
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Poster 35