Numerical Design Solutions for Telescopic Manipulators

This paper proposes a design procedure for telescopic manipulators including a numerical solution when workspace is prescribed through few suitable points. An algebraic formulation for the workspace boundary is developed according to the analysis of the kinematic chain. Furthermore, a design algorithm is established by using those formulations and the numerical solution is worked out through a Newton-Raphson technique to solve a proper design problems. Numerical examples are reported to discuss computational efforts and solution characteristics.