Synthesis of Redundant Planar Isotropic Manipulator using Link Length Ratios

  • Hareesha N G
  • K N Umesh
Keywords: Planar Manipulator, Kinematic Synthesis, Isotropy, Redundant Manipulator, Condition Number


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.


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How to Cite
Hareesha N G, & K N Umesh. (2018). Synthesis of Redundant Planar Isotropic Manipulator using Link Length Ratios. International Journal of Engineering and Management Research, 8(1), 73-78. Retrieved from