A Unified Representation for Mapping Robot Workspace and Performance with Applications for Parallel Mechanisms

In this paper, a novel method for unifying dimensions of robot workspace and performance is proposed. The unified measure allows for visualization of workspace structure as well as performance characteristics in a single graphical representation. The method is applied to a parallel mechanism to demonstrate its effectiveness as a visualization tool. Mechanism optimization and task-oriented mechanism design have also been carried out based on the proposed presentation method.

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