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Characteristics of the parallel link mechanism are discussed in comparison with a conventional serial link mechanism in terms of kinematics, statics, and sigularity problem. In order to design a high performance manipulator the paralle link mechanism is analyzed by using a sigular value decomposition applied to the forward statics. In this analysis a performance index is introduced that indicates how uniformly the mechanism produces force and moment at its end eff ector. A suboptimal manipulator configuration is proposed that has a better performance index than the conventional Stewart platform.

Analysis and Synthesis of a Parallel Link Manipulator Based on Its Statics.