9403019 Park In this research project, an integrated set of design tools are developed for robotic mechanisms. Closed chain mechanisms with fewer than six degrees of freedom are designed to match specific task requirements. In contrast to general programmable robots, these robotic mechanisms possess fewer actuators leading to a reduction in overall costs. The design process matches the workspace of the robotic mechanism to the desired task envelope. The resulting robotic mechanism provides new capabilities in automation that matches the goals of high performance and low cost. The design tool integrates local and global kinematic design procedures, dynamic analysis of closed chains, and motion planning and optimization of parallel robot systems. ***
