Some guidelines for the kinematic design of new manipulators

This work provides tools and guidelines for the designer of new manipulators in order that, in the synthesis process, there can be the possibility to adjust the kinematic parameters in function of three unusual but important kinematic properties: (1) cuspidality (non-singular posture changing ability), (2) genericity (stability of the kinematic properties with respect to small variations in the design parameters) and (3) solvability (the inverse kinematic problem can be solved with quadratics). This work should contribute to the use of alternative manipulator designs.