Fig. 1 Optimized point masses from the APS−3 for a single link: concentrated masses at three locations in 3D space Optimized point masses from the APS−3 for a single link: concentrated masses at three locations in 3D space More

Fig. 2 ( a ) Point mass representation for a planar link using APS− k , ( b ) point mass representation for a link in 3D space using APS− k , and ( c ) representation of a spherical coordinate system to be used for APS− k of 3D links (a) Point mass representation for a planar link using APS−k, ... More

Fig. 3 ( a ) 2-DoF planar manipulator following a line from A to B, ( b ) 2-DoF planar manipulator following a circular path, ( c ) initial and optimized joint torque comparison of joint 1 when manipulator following the linear path, ( d ) initial and optimized joint torque comparison for joint 2: ... More

Fig. 4 ( a ) 3-DoF manipulator following path between the two points: through planned trajectories in joint space, ( b ) initial and optimized joint torques of joint 2, ( c ) initial and optimized joint torques of joint 3, ( d ) optimized point mass distribution of link 2 in a 3D view, ( e ) optim... More

Fig. 5 ( a ) 3-DoF manipulator following the path in Cartesian space, ( b ) initial and optimized joint torque comparison of joint 2, ( c ) initial and optimized joint torque comparison of joint 3, ( d ) optimized point mass distribution of link 2 in 3D view, ( e ) optimized point mass distributio... More

Fig. 6 ( a ) 3-DoF configuration moving between three task space locations following the trajectories in Cartesian and joint spaces, ( b ) torque comparison of joint 2 with original and the optimized link when the configuration is following Cartesian path, ( c ) torque comparison of joint 3 with o... More

Fig. 7 Comparative study of the objective function reduction with the generated curve considering different number ( k ) of point masses in APS− k Comparative study of the objective function reduction with the generated curve considering different number (k) of point masses in APS−k More

Fig. 8 Variation of the position of the point masses over the length for ( a ) 2-DoF planar configuration followed circular path and ( b ) 3-DoF spatial configuration followed circular path Variation of the position of the point masses over the length for (a) 2-DoF planar configuration followed ... More

Fig. 9 ( a ) Modular library designed having actuators, casings, twist unit [ 10 ], and synthesized links, ( b ) end frame of 6-DoF modular configurations ( H 1 − H 4 − H 4 − L 2 − L 2 − L 2 ) [ 42 ], assembled using modular library and approximated link modules, moving from point ... More

Fig. 10 Unified Robot Description Format visualization of 3-DoF modular configuration with unconventional links, in a cluttered environment, reaching a task space location Unified Robot Description Format visualization of 3-DoF modular configuration with unconventional links, in a cluttered envi... More

Fig. 1 Graphical representation of the design repository data schema [ 31 ] Graphical representation of the design repository data schema [31] More