The mechanical design of a seven-axes manipulator with kinematic isotropy (Q1898705)

Treating the title problems, the authors construct the kinematic design on the basis of the main criterion, namely, accuracy. This leads not only to one set of Denavit-Hartenberg parameters, but also to a whole manifold of these sets, which allows the incorporation of such requirements as structural behavior, workspace considerations, and functionality properties. These requirements in turn allow the determination of the link shapes and the selection of actuators.