Performance charts for the design of robotic mechanisms with three moving links

This research concerns a method for the analysis, classification and design of robotic mechanisms with three moving links. Using the workspace geometry, we describe relationships between the kinematic properties and link lengths. The method utilizes a model of the solution space for planar serial mechanisms. Using this model, performance charts are obtained for three types of workspaces. As an example of the proposed methodology, a large number of industrial robots and research manipulators are classified. The technique has wide application to the analysis and design of robotic hands, manipulators, and walking machines.