On the Design of 5R Serial Manipulators with Isotropic Positioning

This paper study the serial composition of two isotropic serial chains aiming at isotropic positioning tasks, and resulting in two new 5R serial manipulators. The operating point of manipulator A can undergo the full surface of a sphere of near isotropic positioning, while maintaining a low constant overall conditioning. The Gram-Schmidt procedure can orthogonalized the rows of the positioning jacobian matrix arising from a selected point over that sphere. The resulting manipulator B can reach isotropic positioning, while undergoing only the trivial circle.