... to the optimization curves. In all the following figures, the performance index results are expressed in the same length unit to allow comparisons. Characteristics of industrial SCARAs Minimax and maximax errors for C 3 optimized SCARA If we consider that a robot should be used...

... prejudgment method. Furthermore, the Jacobian matrix of the POC subsystem is obtained by the screw theory so as to formulate its kinematic performance index. Finally, the dimensional synthesis based on workspace decomposition of the hybrid module is carried out by taking a global view of the dimensional...