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We show that the elbow manipulators and their duals are the optimal designs for 6R manipulators. The performance measures used are those of work-volume and a property defined herein called well-connected-workspace. It is shown that a 6R manipulator, M, has maximal work-volume and a well-connected-workspace if and only if M or M* (its dual) is an elbow manipulator.
Decision and Control, 1985 24th IEEE Conference on (Volume:24 )
Date of Conference: Dec. 1985