The global conditioning index in the solution space of two degree of freedom planar parallel manipulators

This research utilizes a physical model of the solution space to investigate the relationship between the global conditioning index of Gosseling and Angeles (1991) and the link lengths of two degree of freedom parallel link, planar, robotic manipulators. Equations for the global conditioning index are derived and are used to compute contours in the workspace. Because they describe global behavior, the results are useful for the analysis and design of planar parallel manipulators.