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Dimensional synthesis refers to design of the dimensions of manipulators byoptimising different kinds of performance indices. The motivation of this studyis to perform dimensional synthesis for a wide set of spatial manipulators byoptimising the manipulability of each manipulator around a pre-defined taskpoint in the workspace and to finally give a prescription of manipulators alongwith their dimensions optimised for velocity and force transmission. Asystematic method to formulate Jacobian matrix of a manipulator is presented.Optimisation of manipulability is performed for manipulation of theend-effector around a chosen task point for 96 1-DOF manipulators, 645 2-DOFmanipulators, 8 3-DOF manipulators and 15 4-DOF manipulators taken from theresult of enumeration of manipulators that is done in its companion paperdevoted to enumeration of possible manipulators up to a number of links.Prescriptions for these sets of manipulators are presented along with theirscaled condition numbers and their ordered indices. This gives the designer aprescription of manipulators with their optimised dimensions that reflects theperformance of the end-effector around the given task point for velocity andforce transmission.

Dimensional synthesis of spatial manipulators for velocity and force transmission for operation around a specified task point