Determination of Anatomy and Configuration of a Reconfigurable Manipulator for the Optimal Manipulability

A procedure for determining the anatomy and configuration of a reconfigurable robot for optimal manipulability at three task points in its workspace is presented. The reconfigurable 6 d.o.f. manipulator is structured using rigid links, active 1 d.o.f. rotational modules and pseudo joints. The reconfiguration of the robot to a new anatomy is achieved via the setting of the pseudo joint variables to the derived value. For the sake of comparing the results regarding the optimal manipulability of a fixed anatomy and a reconfigurable robot for the same task points, the task points are first located in the fixed anatomy manipulator's workspace for optimal manipulability. The anatomy of the reconfigurable manipulator is then determined for the specified point locations. Results for both robot types are compared and discussed.