Rating and Selection of Kinematic Linkages for Manipulators: Consideration of Parallelism and Number of Loops

Choosing an optimum linkage for any robotic manipulator is an important task and also a tedious one as it needs to simulate/test all the linkages and finally compare them, as we are aware that there are numerous linkages available for any given purpose based on their input and output functions. A method is being proposed here which generates, simulates/tests the linkages; provided the type of input and output is fixed. This method shall yield the best possible linkage as it focuses on the structural as well as the functional aspects and has no limitation for any type of linkage.