Methodological Joint Distribution for Platform Type Manipulator Topologies

Structural synthesis methodologies play an important role through the design of new platform type robot manipulators. Throughout the literature there exist many structural synthesis approaches to reach structural representations of these manipulators, and Alizade’s methodology is one of the most versatile procedures within those. Although topology generation rules were well-defined in Alizade’s studies, joint distribution procedure was only slightly handled. In light of this, current study proposes five strict rules to be applied during joint distribution phase throughout the design of platform type robot manipulators. Utilizing given procedures kinematic structures of new platform type manipulators with desired constraints can be generated by ensuring all of the elements as legs, hinges, branches, and branch loops contribute to the platform motions.