Abstract: This paper contains two new works, namely (i) general task space structure of any n d.o.f. manipulator, and (ii) general procedure of determining admissibility of paths in task space for general ...

Abstract: In this paper, we present a novel method of mapping the task space onto the joint space. This map divides the joint space into patches (disjointed regions) and an n ways accessible region ...

Abstract: A general analytical treatment is provided for determining conditions for assemblability, rotatability of input links, locking positions, and number of circuits of mechanisms with four closures ...