Platform type planar robots: Topology-based selection for rigidity and work space

In the literature, a number of multi-degree-of-freedom planar kinematic chains are available. All of them can be considered for application as platform-type robots. Two major requirements are greater rigidity and large work space. In this article, numerical measures are proposed to compare all the distinct chains from the viewpoint of the above requirements and to select the best chain, frame, and platform. This is expected to help the designer in selecting the best chain at conceptual stage without having to complete the design of all the chains and compare the actual performance, a costly and time-consuming process.