supported by National Natural Science Foundation of China (Grant No. 51075259);Program for New Century Excellent Talents in University of Ministry of Education, China (Grant No. NCET-10-0579);National Basic Research Program of China (973 program, Grant No.2006CB705407);Key Technologies R&D Program of Shanghai,China (Grant No. 10111100203)
The mechanism type plays a decisive role in the mechanical performance of robotic manipulators. Feasible mechanism types can be obtained by applying appropriate type synthesis theory, but there is still a lack of effe...