DETERMINATION OF THE OPTIMAL POSTURE OF MANIPULATORS FOR THE FORCE TRANSMISSION

According to the analysis of dynamic characteristic,the force transmission characteristics,of manipulatorsare studied.And the criteria for measuring the force-transmission dexterity of manipulators are defined basedon the theory of the general relativity of the vector and Moore-penrose inverse.By using these criteria,thebest posture of a manipulator with the minimum joint force on the given load is determined.