1Aditya Engineering College, Surampalem, E.G.Dt, AP, India.
2Mechanical Engineering Dept., College of Engg., Osmania University, Hyderabad, AP, India.
Robot Arms have received greater attention in these days are open chain linkages. Each joint in these robot arms is actuated independently, while possessing many advantages such as large work space and maneuverability, they do suffer from disadvantages like less rigidity, accumulation of Mechanical errors etc., An alternative to open chain robot arm is the In-parallel actuator arrangement.
In this paper, an attempt is made, which helps the designer in selecting the best chain for use as in-parallel actuator arrangement. In the process, it is shown that the proposed method has strong resemblance to Information theory developed in the area of communication.
