1Assistant Professor, Department of Aeronautical Engineering, Dayananda Sagar College of Engineering, Bengaluru, Karnataka, India
2Professor, Department of Mechanical Engineering, PES College of Engineering, Mandya, Karnataka, India
*Corresponding Author: hareeshang@gmail.com
Online published on 14 May, 2018.
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.
Planar manipulator, Kinematic Synthesis, Isotropy, Redundant Manipulator, Condition Number
