Parameter design for two-dimensional truss binary manipulators based on the Kolmogorov-Smirnov statistic and maximum empty circles

In this study, a two-dimensional truss binary manipulator is considered as a controlled plant. The reachable points of the binary manipulator form a discrete set of points, and their distribution depends on the parameters of each binary actuator, e.g., the binary actuator lengths. In this paper, a novel parameter design method for the binary manipulators is proposed. In this method, two different criteria, the Kolmogorov-Smirnov (KS) statistic and radius of the maximum empty circle (MEC) are combined. Minimizing the KS-statistic maximizes the density of reachable points and makes their distribution close to uniform one. In addition, minimizing the radius minimizes the upper bound of the positioning error of end effecter. Numerical design results for the two-dimensional truss binary manipulator are presented to demonstrate the usefulness of the proposed method.